3,441 research outputs found
Voluntary lane-change policy synthesis with reactive control improvisation
In this paper, we propose reactive control improvisation
to synthesize voluntary lane-change policy that meets
human preferences under given traffic environments. We first
train Markov models to describe traffic patterns and the motion
of vehicles responding to such patterns using traffic data. The
trained parameters are calibrated using control improvisation
to ensure the traffic scenario assumptions are satisfied. Based
on the traffic pattern, vehicle response models, and Bayesian
switching rules, the lane-change environment for an automated
vehicle is modeled as a Markov decision process. Based on
human lane-change behaviors, we train a voluntary lane-change
policy using explicit-duration Markov decision process.
Parameters in the lane-change policy are calibrated through
reactive control improvisation to allow an automated car to
pursue faster speed while maintaining desired frequency of
lane-change maneuvers in various traffic environments
Voluntary lane-change policy synthesis with reactive control improvisation
In this paper, we propose reactive control improvisation
to synthesize voluntary lane-change policy that meets
human preferences under given traffic environments. We first
train Markov models to describe traffic patterns and the motion
of vehicles responding to such patterns using traffic data. The
trained parameters are calibrated using control improvisation
to ensure the traffic scenario assumptions are satisfied. Based
on the traffic pattern, vehicle response models, and Bayesian
switching rules, the lane-change environment for an automated
vehicle is modeled as a Markov decision process. Based on
human lane-change behaviors, we train a voluntary lane-change
policy using explicit-duration Markov decision process.
Parameters in the lane-change policy are calibrated through
reactive control improvisation to allow an automated car to
pursue faster speed while maintaining desired frequency of
lane-change maneuvers in various traffic environments
Connected cruise control design using probabilistic model checking
In this paper, we synthesize a connected cruise controller with performance guarantee using probabilistic model checking, for a vehicle that receives motion information from several vehicles ahead through wireless vehicle-to-vehicle communication. We model the car-following dynamics of the preceding vehicles as Markov chains and synthesize the connected cruise controller as a Markov decision process. We show through simulations that such a design is robust against imperfections in communication
Fuel Efficient Connected Cruise Control for Heavy-Duty Trucks in Real Traffic
In this paper, we present a systematic approach for fuel-economy optimization of a connected automated truck that utilizes motion information from multiple vehicles ahead via vehicle-to-vehicle (V2V) communication. Position and velocity data collected from a chain of human-driven vehicles are utilized to design a connected cruise controller that smoothly responds to traffic perturbations while maximizing energy efficiency. The proposed design is evaluated using a high-fidelity truck model and the robustness of the design is validated on real traffic data sets. It is shown that optimally utilizing V2V connectivity leads to around 10% fuel economy improvements compared to the best nonconnected design
Fuel Efficient Connected Cruise Control for Heavy-Duty Trucks in Real Traffic
In this paper, we present a systematic approach for fuel-economy optimization of a connected automated truck that utilizes motion information from multiple vehicles ahead via vehicle-to-vehicle (V2V) communication. Position and velocity data collected from a chain of human-driven vehicles are utilized to design a connected cruise controller that smoothly responds to traffic perturbations while maximizing energy efficiency. The proposed design is evaluated using a high-fidelity truck model and the robustness of the design is validated on real traffic data sets. It is shown that optimally utilizing V2V connectivity leads to around 10% fuel economy improvements compared to the best nonconnected design
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