scholarly journals Multivehicle Cooperative Lane Change Control Strategy for Intelligent Connected Vehicle

2020 ◽  
Vol 2020 ◽  
pp. 1-10 ◽  
Author(s):  
Jie Ni ◽  
Jingwen Han ◽  
Fei Dong
Keyword(s):  
Control Function ◽  
Longitudinal Motion ◽  
Lane Change ◽  
Connected Vehicle ◽  
Incentive Model ◽  
Optimization Control ◽  
Vehicle Acceleration ◽  
Change Operation ◽  
Change Framework ◽  
Rolling Optimization

In order to improve the safety, stability, and efficiency of lane change operating, this paper proposes a multivehicle-coordinated strategy under the vehicle network environment. The feasibility of collaborative lane change operation is established by establishing a gain function based on the incentive model. By comparing lane change gain with lane keeping gain, whether it is feasible to perform the collaboration under current conditions can be judged. Based on the model predictive control (MPC), a multiobjective optimization control function for cooperative lane change is established to realize the distributed control. A novel two-stage cooperative lane change framework is proposed, which divides the lane change process into the lane change phase and the longitudinal headway adjustment phase. It is significant to solve the difficult numerical problem caused by the dimension of collision-avoidance constraints and the nonlinearity of vehicle kinematics. In the first stage, the subject vehicle completes lane change operation. Both longitudinal and lateral movements of the vehicle are considered to optimize the acceleration and the error of following distance at this stage; in the second stage, the operation of adjusting longitudinal headway between vehicles in the target lane is completed, and at this period, only the longitudinal motion of the vehicle is considered to optimize the vehicle acceleration error. The rolling optimization time domain algorithm is used to solve the optimization control problem step by step. Finally, based on the US NGSIM open-source traffic flow database, the accuracy and feasibility of the proposed strategy are verified.

Stability Analysis of Nonlinear Connected Vehicle Systems

2014 ◽  
Author(s):  
Linjun Zhang ◽  
Gábor Orosz
Keyword(s):  
Stability Analysis ◽  
Large Scale ◽  
Modular Design ◽  
System Level ◽  
Longitudinal Motion ◽  
Connected Vehicle ◽  
V2v Communication ◽  
Stability Diagrams ◽  
Vehicle Systems ◽  
Vehicle Networks

In this paper, we investigate the nonlinear dynamics of connected vehicle systems. Vehicle-to-vehicle (V2V) communication is exploited when controlling the longitudinal motion of a few vehicles in the traffic flow. In order to achieve the desired system-level behavior, the plant stability and the head-to-tail string stability are characterized at the nonlinear level using Lyapunov functions. A motif-based approach is utilized that allows modular design for large-scale vehicle networks. Stability analysis of motifs are summarized using stability diagrams, which are validated by numerical simulations.

Lane Change Intention Recognition for Intelligent Connected Vehicle Using Trajectory Prediction

CICTP 2020 ◽  
2020 ◽  
Author(s):  
Shengjie Kou ◽  
Kun Jiang ◽  
Weiguang Yu ◽  
Ruidong Yan ◽  
Weitao Zhou ◽  
...  
Keyword(s):  
Lane Change ◽  
Connected Vehicle ◽  
Trajectory Prediction ◽  
Intention Recognition

Research on Calculation Model of Minimum Net Distance between Interchanges on Eight-Lane Expressway

2011 ◽  
Vol 97-98 ◽  
pp. 121-129 ◽  
Author(s):  
Bing Hong Pan ◽  
Ling Chen Kong
Keyword(s):  
Probability Theory ◽  
Calculation Model ◽  
Operating Speed ◽  
Lane Change ◽  
Gap Acceptance ◽  
Lane Changing ◽  
Change Operation ◽  
Traffic Operation ◽  
Gap Acceptance Theory ◽  
Operation Characteristics

According to traffic operation characteristics and lane changing maneuvers, combining with the export notice signs and considering the worst driving conditions, the gap acceptance theory and kinematics are employed to establish the length of lane change operation between interchanges with probability theory. To operating speed as the premise, the necessary length that drivers change to the inside lane from the nearside lane is analyzed in terms of waiting for the gap acceptance, and the necessary length that drivers change to the nearside lane from the inside lane is also analyzed in terms of running for the gap acceptance, then calculation model of minimum net distance between interchanges on eight-lane expressway is constructed. The recommended value is then put forward.

The Development of ESP Control System Based on the Fuzzy-PID Control Strategy

2011 ◽  
Vol 130-134 ◽  
pp. 1907-1910
Author(s):  
Liang Mo Wang ◽  
Li Hua An ◽  
Li Tan ◽  
Zhi Lin Wu ◽  
Li Li
Keyword(s):  
Control System ◽  
Pid Control ◽  
Good Effect ◽  
Joint Control ◽  
Longitudinal Motion ◽  
Control Analysis ◽  
Lane Change ◽  
Fuzzy Pid ◽  
Fuzzy Pid Control ◽  
Matlab Simulink

In this paper, the author primarily established the vehicle dynamics model with seven degrees of freedom by MATLAB / Simulink, which could reflect the longitudinal motion, lateral motion and yaw of the vehicle. Under the environment of MATLAB/Simulink, the Fuzzy PID control system based on yaw and sideslip angle is integrated to the 7-DOF vehicle model. With this model, two kinds of emergency double lane change steering condition of the joint control analysis are carried out to check the effects of the control system on the emergency lane change, passing, avoiding obstacles. The results showed that the vehicle stability control system designed can improve vehicle handling and stability, assisting the driver to adapt to various roads and driving conditions, achieve a good effect on the active control, and greatly improve the driving safety.

scholarly journals Dynamic Eco-Driving on Signalized Arterial Corridors during the Green Phase for the Connected Vehicles

2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Xiangmo Zhao ◽  
Xia Wu ◽  
Qi Xin ◽  
Kang Sun ◽  
Shaowei Yu
Keyword(s):  
Fuel Consumption ◽  
Field Experiments ◽  
Connected Vehicle ◽  
Position Information ◽  
Distance Information ◽  
Multi Stage ◽  
Rolling Optimization ◽  
The One ◽  
Optimal Approach ◽  
Fuel Consumption And Emissions

Inappropriate driving behaviours can result in additional fuel consumption and emissions. Drivers can be informed of the accurate signal phase and timing (SPaT) and distance information of the current intersection and downstream intersections via vehicle-to-everything (V2X) communications. The real-time information has been utilized to assist drivers in taking reasonable manoeuvres and gain lots of benefits on fuel consumption and emissions in some existing studies. In order to cooperatively address the optimization problem on the signalized arterial corridors, this paper presents an eco-driving optimization model considering preceding SPaT and position information. This model can be applied to pass two successive traffic signals cooperatively during green phase. In this study, a multi-stage optimal approach is proposed to minimize the fuel consumption. Field experiments are carried out for comparative analysis between the connected vehicle with speed advisory and the uninformed vehicle without speed advisory. The results indicate that the fuel saving of the connected vehicle guided by the dynamic optimization algorithm shows significant improvement. In addition, the rolling optimization among three signalized intersections is conducted and the results show that a considerable improvement can be obtained compared with the one-by-one optimization.

scholarly journals Research on cyber security risk of telematics box in intelligent connected vehicle

2022 ◽  
Vol 355 ◽  
pp. 03030
Author(s):  
Chao Ma ◽  
Hao Zhao ◽  
Tong Wang
Keyword(s):  
Cyber Security ◽  
Control Function ◽  
Rapid Development ◽  
Connected Vehicle ◽  
Security Risk ◽  
T Box ◽  
Multiple Dimensions ◽  
5G Network ◽  
Security Problem ◽  
Protection Strategies

With the rapid development of the automotive industry and the wide application of 5G network technology, there are more and more Telematics Box (T-Box) equipped with intelligent operating systems in vehicles and they are becoming more and more complex. Because it is connected to the on-board CAN bus internally and interconnects with mobile phone /PC through the cloud platform externally, the security of T-Box must be fully guaranteed, to make the automotive more secure. T-Box can realize remote control function, so the T-Box information security problem has been paid more and more attention. In this paper, the T-Box were tested from multiple dimensions by using various methods, and the results were statistically analyzed, and the corresponding protection strategies were proposed for the corresponding security risks.

A Comparative Analysis of Tree-Based Ensemble Methods for Detecting Imminent Lane Change Maneuvers in Connected Vehicle Environments

2018 ◽  
Vol 2672 (42) ◽  
pp. 268-279 ◽  
Author(s):  
Saleh R. Mousa ◽  
Peter R. Bakhit ◽  
Osama A. Osman ◽  
Sherif Ishak
Keyword(s):  
Gradient Boosting ◽  
Lane Change ◽  
Connected Vehicle ◽  
Classification Problems ◽  
Trajectory Data ◽  
Modeling Tools ◽  
Lane Changing ◽  
Extreme Gradient Boosting ◽  
Car Crashes ◽  
Vehicle Trajectory

Lane changing is one of the main contributors to car crashes in the U.S. The complexity of the decision-making process associated with lane changing makes such maneuvers prone to driving errors, and hence, increases the possibility of car crashes. Thus, researchers have been investigating ways to model and predict lane changing maneuvers for optimally designed crash avoidance systems. Such systems rely on the accuracy of detecting the onset of lane-change maneuvers, which requires comprehensive vehicle trajectory data. Connected Vehicles (CV) data provide opportunities for accurate modeling of lane changing maneuvers, especially with the variety of advanced tools available nowadays. The review of the literature indicates that most of the implemented modeling tools do not achieve reliable accuracy for such critical safety application of lane-change prediction. Recently, eXtreme Gradient Boosting (XGB) became a well-recognized algorithm among the computer science community in solving classification problems due to its accuracy, scalability, and speed. This study implements the XGB in predicting the onset of lane changing maneuvers using CV trajectory data. The performance of XGB is compared to three other tree-based algorithms namely, decision trees, gradient boosting, and random forests. The Next Generation SIMulation trajectory data are used to represent the high-resolution CV data. The results indicate that XGB is superior to the other algorithms with a high accuracy value of 99.7%. This outstanding accuracy is achieved when considering vehicle trajectory data two seconds prior to a potential lane change maneuver. The findings of this study are promising for detection of lane change maneuvers in CV environments.

A Generalized Madymo Modeling Approach With Both Frontal Occupants in a Range of Impact Situations

2004 ◽  
Author(s):  
Rex T. Shea
Keyword(s):  
Development Process ◽  
System Development ◽  
Three Dimensional ◽  
Longitudinal Motion ◽  
Restraint System ◽  
Single Model ◽  
Design Change ◽  
Frontal Impacts ◽  
Vehicle Acceleration ◽  
Master Model

A generalized MADYMO model that includes both the driver and passenger was developed to simulate the occupant responses under different restraint conditions in various impact situations. Traditionally in safety simulations the occupant was given the inverse of the vehicle acceleration and the vehicle compartment remains stationary. This approach works for frontal impacts where the longitudinal motion of the occupants dominates the kinematics. For an offset or angled impact, where the vehicle experiences a general three-dimensional motion, this approach loses its advantage. A prescribed motion approach is used instead, where the vehicle was given a prescribed three-dimensional motion, and the occupant’s responses are recorded similar to an actual crash. Driver and passenger models are generally being developed separately for each impact situation. This creates a maintenance and updating problem, because a single design change could require modifying a family of models. In this study a master model was developed using the prescribed motion approach, and both the driver and the passenger were incorporated into the model. This has the advantage of streamlining the restraint system development process, and avoiding tedious maintenance at the same time. A single model can be used for a range of impact situations, and all occupant responses can be generated. The model can be used to simulate frontal impacts at different speeds, angled impacts, and offset deformable barrier tests. A pair of angled impacts and an NCAP test were used as examples to demonstrate the versatility of the model and correlations to barrier tests were discussed.

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