Evaluation of autonomous vehicle driving systems for risk assessment based on three-dimensional uncertain linguistic variables

2021 ◽  
pp. 107934
Author(s):  
Melike Erdoğan ◽  
İhsan Kaya ◽  
Ali Karaşan ◽  
Murat Çolak
Author(s):  
Александр Григорьевич Корченко ◽  
Бахытжан Сражатдинович Ахметов ◽  
Светлана Владимировна Казмирчук ◽  
Андрей Юрьевич Гололобов ◽  
Нургуль Абадуллаевна Сейлова

2021 ◽  
Author(s):  
Sven Gastauer ◽  
Jeffrey S. Ellen ◽  
Mark D. Ohman

<p><em>Zooglider</em> is an autonomous buoyancy-driven ocean glider designed and built by the Instrument Development Group at Scripps. <em>Zooglider</em> includes a low power camera with a telecentric lens for shadowgraph imaging and two custom active acoustics echosounders (operated at 200/1000 kHz).  A passive acoustic hydrophone records vocalizations from marine mammals, fishes, and ambient noise.  The imaging system (<em>Zoocam</em>) quantifies zooplankton and ‘marine snow’ as they flow through a sampling tunnel within a well-defined sampling volume. Other sensors include a pumped Conductivity-Temperature-Depth probe and Chl-<em>a</em> fluorometer.  An acoustic altimeter permits autonomous navigation across regions of abrupt seafloor topography, including submarine canyons and seamounts.  Vertical sampling resolution is typically 5 cm, maximum operating depth is ~500 m, and mission duration up to 50 days.  Adaptive sampling is enabled by telemetry of measurements at each surfacing.  Our post-deployment processing methodology classifies the optical images using advanced Deep Learning methods that utilize context metadata.  <em>Zooglider</em> permits in situ measurements of mesozooplankton and marine snow - and their natural, three dimensional orientation - in relation to other biotic and physical properties of the ocean water column.  <em>Zooglider</em> resolves micro-scale patches, which are important for predator-prey interactions and biogeochemical cycling. </p><p> </p>


Author(s):  
Keji Chen ◽  
Xiaofei Pei ◽  
Daoyuan Sun ◽  
Zhenfu Chen ◽  
Xuexun Guo ◽  
...  

Leveraging the advancements in sensor and mapping technologies, the collision-free autonomous vehicle becomes possible in the future. In this article, a case study of collision avoidance by active steering control is presented and verified by a driver-in-the-loop platform. The proposed control system integrates a risk assessment algorithm and a hierarchical model predictive control approach to ensure a safe driving. First, a fuzzy logic is used to estimate the potential conflict. Besides, a nonlinear model predictive control is introduced in the upper layer of the model predictive controller to generate a collision-free trajectory. Furthermore, the lower layer determines the optimal steering angle based on the linear time-variant model predictive control to follow the replanning path. The performance of the controller has been evaluated in the real-time driver-in-the-loop test. The results show that the autonomous vehicle is able to avoid the collision with the surrounding vehicle that is operated by a real driver, and the performance of collision avoidance is improved by means of the risk assessment.


Author(s):  
Talal Al-Shihabi ◽  
Ronald R. Mourant

Autonomous vehicles are perhaps the most encountered element in a driving simulator. Their effect on the realism of the simulator is critical. For autonomous vehicles to contribute positively to the realism of the hosting driving simulator, they need to have a realistic appearance and, possibly more importantly, realistic behavior. Addressed is the problem of modeling realistic and humanlike behaviors on simulated highway systems by developing an abstract framework that captures the details of human driving at the microscopic level. This framework consists of four units that together define and specify the elements needed for a concrete humanlike driving model to be implemented within a driving simulator. These units are the perception unit, the emotions unit, the decision-making unit, and the decision-implementation unit. Realistic models of humanlike driving behavior can be built by implementing the specifications set by the driving framework. Four humanlike driving models have been implemented on the basis of the driving framework: ( a) a generic normal driving model, ( b) an aggressive driving model, ( c) an alcoholic driving model, and ( d) an elderly driving model. These driving models provide experiment designers with a powerful tool for generating complex traffic scenarios in their experiments. These behavioral models were incorporated along with three-dimensional visual models and vehicle dynamics models into one entity, which is the autonomous vehicle. Subjects perceived the autonomous vehicles with the described behavioral models as having a positive effect on the realism of the driving simulator. The erratic driving models were identified correctly by the subjects in most cases.


2020 ◽  
Vol 7 (4) ◽  
pp. 34-43
Author(s):  
Yu. Mironova

The fuzzy set concept is often used in solution of problems in which the initial data is difficult or impossible to represent in the form of specific numbers or sets. Geo-information objects are distinguished by their uncertainty, their characteristics are often vague and have some error. Therefore, in the study of such objects is introduced the concept of "fuzziness" — fuzzy sets, fuzzy logic, linguistic variables, etc. The fuzzy set concept is given in the form of membership function. An ordinary set is a special case of a fuzzy one. If we consider a fuzzy object on the map, for example, a lake that changes its shape depending on the time of year, we can build up for it a characteristic function from two variables (the object’s points coordinates) and put a certain number in accordance with each point of the object. That is, we can describe a fuzzy set using its two-dimensional graphical image. Thus, we obtain an approximate view of a surface z = μ(x, y) in three-dimensional space. Let us now draw planes parallel to the plane. We’ll obtain intersections of our surface with these planes at 0 ≤ z ≤ 1. Let's call them as isolines. By projecting these isolines on the OXY plane, we’ll obtain an image of our fuzzy set with an indication of intermediate values μ(x, y) linked to the set’s points coordinates. So we’ll construct generalized Euler — Venn diagrams which are a generalization of well-known Euler — Venn diagrams for ordinary sets. Let's consider representations of operations on fuzzy sets A a n d B. Th e y u s u a l l y t a k e : μA B = min (μA,μB ), μA B = max (μA,μB ), μA = 1 − μA. Algebraic operations on fuzzy sets are defined as follows: μ A B x μ A x μ B x ( ) = ( ) + ( ) − −μ A (x)μ B (x), μ A B x μ A x μ B x ( ) = ( ) ( ), μ A (x) = 1 − μ A (x). Let's construct for a particular problem a generalized Euler — Venn diagram corresponding to it, and solve subtasks graphically, using operations on fuzzy sets, operations of intersection and integrating of the diagram’s bars.


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