scholarly journals Towards a Decision-Making Algorithm for Automatic Lane Change Manoeuvre Considering Traffic Dynamics

2016 ◽  
Vol 28 (2) ◽  
pp. 91-103 ◽  
Author(s):  
Sajjad Samiee ◽  
Shahram Azadi ◽  
Reza Kazemi ◽  
Arno Eichberger
Keyword(s):  
Decision Making ◽  
Environmental Conditions ◽  
Lateral Position ◽  
Lane Change ◽  
Lateral Movement ◽  
Traffic Dynamics ◽  
The Road ◽  
Road Friction ◽  
On The Road ◽  
Novel Algorithm

This paper proposes a novel algorithm for decision-making on autonomous lane change manoeuvre in vehicles. The proposed approach defines a number of constraints, based on the vehicle’s dynamics and environmental conditions, which must be satisfied for a safe and comfortable lane change manoeuvre. Inclusion of the lateral position of other vehicles on the road and the tyre-road friction are the main advantages of the proposed algorithm. To develop the lane change manoeuvre decision-making algorithm, first, the equations for the lateral movement of the vehicle in terms of manoeuvre time are produced. Then, the critical manoeuvring time is calculated on the basis of the constraints. Finally, the decision is made on the feasibility of carrying out the manoeuvre by comparing the critical times. Numerous simulations, taking into account the tyre-road friction and vehicles’ inertia and velocity, are conducted to compute thecritical times and a model named TUG-LCA is presented based on the corresponding results.

Anti-Lock Wheel Slip Control With an Adaptive Searching Algorithm for the Optimal Slip

2015 ◽  
Author(s):  
Ning Pan ◽  
Liangyao Yu ◽  
Lei Zhang ◽  
Zhizhong Wang ◽  
Jian Song
Keyword(s):  
Lyapunov Theory ◽  
Modulation Amplitude ◽  
Wheel Slip ◽  
Slip Control ◽  
The Road ◽  
Road Friction ◽  
Speed Fluctuation ◽  
On The Road ◽  
Pressure Modulation ◽  
Abs Algorithm

An adaptive searching algorithm for the optimal slip during ABS wheel slip control is proposed. By taking advantage of the fluctuation of wheel slip control, the direction towards the optimal slip can be found, and the target slip calculated by the algorithm asymptotically converged to the optimal slip, which is proved using the Lyapunov theory. A gain-scheduling wheel slip controller is developed to control the wheel slip to the target slip. Simulations on the uniform road and on the road with changed friction are carried out to verify the effectiveness of the proposed algorithm. Simulation results show that the ABS algorithm using the proposed searching algorithm can make full use of the road friction and adapts to road friction changes. Comparing with the conventional rule-based ABS, the pressure modulation amplitude and wheel speed fluctuation is significantly reduced, improving control performance of ABS.

scholarly journals On the Road to Holistic Decision Making in Adaptive Security

2013 ◽  
Vol 3 (8) ◽  
pp. 59-64 ◽  
Author(s):  
Mahsa Emami-Taba ◽  
Mehdi Amoui ◽  
Ladan Tahvildari
Keyword(s):  
Decision Making ◽  
Adaptive Security ◽  
The Road ◽  
On The Road

scholarly journals On the Road to Holistic Decision Making in Adaptive Security

2013 ◽  
Vol 3 (8) ◽  
pp. 59-64 ◽  
Author(s):  
Mahsa Emami-Taba ◽  
Mehdi Amoui ◽  
Ladan Tahvildari
Keyword(s):  
Decision Making ◽  
Adaptive Security ◽  
The Road ◽  
On The Road

scholarly journals Analysis of Traffic Evolution on Road Networks of a Roundabout

2020 ◽  
Vol 2020 ◽  
pp. 1-18
Author(s):  
Tolesa Hundesa Muleta ◽  
Legesse Lemecha Obsu
Keyword(s):  
Traffic Congestion ◽  
Road Network ◽  
Road Networks ◽  
Point Of View ◽  
Traffic Dynamics ◽  
Demand And Supply ◽  
The Road ◽  
On The Road ◽  
Detailed Mathematical Analysis ◽  
Control Traffic

In this paper, the analyses of traffic evolution on the road network of a roundabout having three entrances and three exiting legs are conducted from macroscopic point of view. The road networks of roundabouts are modeled as a merging and diverging types 1×2 and 2×1 junctions. To study traffic evolution at junction, two cases have been considered, namely, demand and supply limited cases. In each case, detailed mathematical analysis and numerical tests have been presented. The analysis in the case of demand limited showed that rarefaction wave fills the portion of the road network in time. In the contrary, in supply limited case, traffic congestion occurs at merging junctions and shock wave propagating back results in reducing the performance of a roundabout to control traffic dynamics. Also, we illustrate density and flux profiles versus space discretization at different time steps via numerical simulation with the help of Godunov scheme.

Game Theory-Based Framework for Modeling Human–Vehicle Interactions on the Road

2020 ◽  
Vol 2674 (9) ◽  
pp. 701-713
Author(s):  
Yalda Rahmati ◽  
Alireza Talebpour ◽  
Archak Mittal ◽  
James Fishelson
Keyword(s):  
Decision Making ◽  
Human Behavior ◽  
Ground Truth ◽  
Realistic Model ◽  
Shared Environment ◽  
The Road ◽  
Interactive Behavior ◽  
Interactive Decision Making ◽  
Decision Making Framework ◽  
On The Road

New application domains have faded the barriers between humans and robots, introducing a new set of complexities to robotic systems. The major impediment is the uncertainties associated with human decision making, which makes it challenging to predict human behavior. A realistic model of human behavior is thus vital to capture humans’ interactive behavior with their surroundings and provide robots with reliable estimates on what is most likely to happen. Focusing on operations of connected and automated vehicles (CAVs) in areas with a high presence of human actors (i.e., pedestrians), this study creates an interactive decision-making framework to predict pedestrians’ trajectories when walking in a shared environment with vehicles and other pedestrians. It develops a game theoretical structure to approximate the movement and directional components of pedestrian motion using the theory of Nash equilibria in non-cooperative games. It also introduces a novel payoff structure to address the inherent uncertainties in human behavior. Ground truth pedestrian trajectories are then used to calibrate the game parameters and evaluate the model’s performance in approximating the motion decisions of human agents in interaction with interfering vehicles and pedestrians. The main contribution of the study is to develop an interactive human–vehicle decision-making framework toward realizing human–vehicle coexistence by capturing the effect of pedestrian–vehicle and pedestrian–pedestrian interactions on choice of walking strategies. The derived knowledge could be used in CAV navigation algorithms to provide the vehicle with more accurate predictions of pedestrian behavior, and in turn, improve CAV motion planning in human-populated areas.

More obstacles on the road to unification

2007 ◽  
Vol 30 (1) ◽  
pp. 41-41 ◽  
Author(s):  
Eric Alden Smith
Keyword(s):  
Decision Making ◽  
Human Behavior ◽  
Real World ◽  
Institutional Constraints ◽  
Historical Contingency ◽  
Behavioral Sciences ◽  
The Road ◽  
On The Road

The synthesis proposed by Gintis is valuable but insufficient. Greater consideration must be given to epistemological diversity within the behavioral sciences, to incorporating historical contingency and institutional constraints on decision-making, and to vigorously testing deductive models of human behavior in real-world contexts.

Monte Carlo Analysis of Safe Following Distances Under Different Road Conditions

2003 ◽  
Author(s):  
Scott Kimbrough
Keyword(s):  
Probability Theory ◽  
Real Life ◽  
Monte Carlo Analysis ◽  
Reaction Rates ◽  
The Road ◽  
Lead Driver ◽  
Road Friction ◽  
On The Road ◽  
To Come ◽  
Lead Vehicle

In order to avoid accidents drivers must maintain an adequate amount of separating distance between themselves and vehicles in front of them. If the driver of the lead vehicle suddenly applies his brakes, the driver of the following vehicle needs sufficient time and space to react and apply his brakes to come to a stop. If all vehicles and drivers had the same brake performance, then the required separating distance would simply be the distance traveled while reacting; basically the product of the speed being traveled times the reaction time of the driver. This simple rule would guarantee that a following driver would be able to apply his brakes before arriving at the place on the road where the lead driver applied his brakes. In real life though, all vehicle and drivers do not have the same stopping performance. There are variations due to the different tires on the vehicles, the brake balance of the vehicles, the reaction rates of the drivers, the skills of the drivers, and the traction afforded by the particular wheel paths followed by the vehicles. One way to deal with these variations is to use probability theory [2–6]. In this paper probability theory is used to determine how following distance should vary as a function of speed, average road friction, and variation of the road friction, so that the probability of a collision remains below a desired threshold.

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