› › Cooperative Collision Avoidance For Connected And Autonomous Vehicles

Cooperative Collision Avoidance for Connected and Autonomous Vehicles

Author : Gokul Arvind Anantharaman

Publisher :

Page : 94 pages

File Size : 37,66 MB

Release : 2018

Category : Automobiles

ISBN :

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Book Description

Collision Avoidance is an important issue in the field of automotive, aerospace, marine engineering and other transportation systems. It is of utmost importance for the safety of the passengers and others in the scene. The objective of collision avoidance system is to detect a potential collision scenario with another object or obstacle by tracking them and evaluate a decision-making module to determine the course of action to be taken to avoid or mitigate the collision. In this thesis, the concept of Collision Avoidance has been discussed and extended to multiple vehicles and objects in the scene, also called Cooperative Collision Avoidance. The focus of this thesis has been on determining the type of the potential collision scenario and how the decisions must be taken to mitigate the collision. Common collision scenarios have been analyzed and decision-making modules to mitigate the collision have been proposed in this thesis. Several simulations were run with different states of the vehicles and obstacles and in different scenarios. The decision-making module proposed relies on predefined trajectory of the vehicles and the obstacles. To run the module in real time, tracking of object and obstacles should be done. Work on object detection using 3D point cloud data has been done to detect obstacles in the path of the vehicle. Combining the `object detection and tracking’ module with the `decision making’ module enables the real time Cooperative Collision Avoidance among vehicles and other objects.



Cooperative Control of Networked Vehicles

Author : Alexander Schwab

Publisher : Logos Verlag Berlin GmbH

Page : 192 pages

File Size : 41,94 MB

Release : 2022-08-29

Category : Technology & Engineering

ISBN : 3832555498

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Book Description

This thesis concerns the cooperative control of networked vehicles. Autonomous driving is a topic that is currently being discussed with great interest from researchers, vehicle manufacturers and the corresponding media. Future autonomous vehicles should bring the passengers to their desired destination while improving both safety and efficiency compared to current human-driven vehicles. The inherent problem of all vehicle coordination tasks is to guarantee collision avoidance in every situation. To this end, autonomous vehicles have to share information with each other in order to perform traffic manoeuvres that require the cooperation of multiple vehicles. The fundamental problem of vehicle platooning is studied extensively which describes the task of arranging a set of vehicles so that they drive with a common velocity and a prescribed distance. Local design objectives are derived that have to be satisfied by the vehicle controllers. In particular, it is shown that the vehicles have to be externally positive to achieve collision avoidance. As an abstraction from real traffic scenarios, swarms of networked vehicles are considered. The main difference between swarming and traffic problems is that a communication structure that has been appropriate in the beginning might become unsuited for the control task due to the relative movement of the vehicles. To solve this problem, this thesis proposes to use the Delaunay triangulation as a switching communication structure.



Path Planning and Tracking for Vehicle Collision Avoidance in Lateral and Longitudinal Motion Directions

Author : Jie Ji

Publisher : Springer Nature

Page : 144 pages

File Size : 40,73 MB

Release : 2022-06-01

Category : Technology & Engineering

ISBN : 303101507X

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Book Description

In recent years, the control of Connected and Automated Vehicles (CAVs) has attracted strong attention for various automotive applications. One of the important features demanded of CAVs is collision avoidance, whether it is a stationary or a moving obstacle. Due to complex traffic conditions and various vehicle dynamics, the collision avoidance system should ensure that the vehicle can avoid collision with other vehicles or obstacles in longitudinal and lateral directions simultaneously. The longitudinal collision avoidance controller can avoid or mitigate vehicle collision accidents effectively via Forward Collision Warning (FCW), Brake Assist System (BAS), and Autonomous Emergency Braking (AEB), which has been commercially applied in many new vehicles launched by automobile enterprises. But in lateral motion direction, it is necessary to determine a flexible collision avoidance path in real time in case of detecting any obstacle. Then, a path-tracking algorithm is designed to assure that the vehicle will follow the predetermined path precisely, while guaranteeing certain comfort and vehicle stability over a wide range of velocities. In recent years, the rapid development of sensor, control, and communication technology has brought both possibilities and challenges to the improvement of vehicle collision avoidance capability, so collision avoidance system still needs to be further studied based on the emerging technologies. In this book, we provide a comprehensive overview of the current collision avoidance strategies for traditional vehicles and CAVs. First, the book introduces some emergency path planning methods that can be applied in global route design and local path generation situations which are the most common scenarios in driving. A comparison is made in the path-planning problem in both timing and performance between the conventional algorithms and emergency methods. In addition, this book introduces and designs an up-to-date path-planning method based on artificial potential field methods for collision avoidance, and verifies the effectiveness of this method in complex road environment. Next, in order to accurately track the predetermined path for collision avoidance, traditional control methods, humanlike control strategies, and intelligent approaches are discussed to solve the path-tracking problem and ensure the vehicle successfully avoids the collisions. In addition, this book designs and applies robust control to solve the path-tracking problem and verify its tracking effect in different scenarios. Finally, this book introduces the basic principles and test methods of AEB system for collision avoidance of a single vehicle. Meanwhile, by taking advantage of data sharing between vehicles based on V2X (vehicle-to-vehicle or vehicle-to-infrastructure) communication, pile-up accidents in longitudinal direction are effectively avoided through cooperative motion control of multiple vehicles.



Human-Like Decision Making and Control for Autonomous Driving

Author : Peng Hang

Publisher : CRC Press

Page : 201 pages

File Size : 31,80 MB

Release : 2022-07-25

Category : Mathematics

ISBN : 1000624951

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Book Description

This book details cutting-edge research into human-like driving technology, utilising game theory to better suit a human and machine hybrid driving environment. Covering feature identification and modelling of human driving behaviours, the book explains how to design an algorithm for decision making and control of autonomous vehicles in complex scenarios. Beginning with a review of current research in the field, the book uses this as a springboard from which to present a new theory of human-like driving framework for autonomous vehicles. Chapters cover system models of decision making and control, driving safety, riding comfort and travel efficiency. Throughout the book, game theory is applied to human-like decision making, enabling the autonomous vehicle and the human driver interaction to be modelled using noncooperative game theory approach. It also uses game theory to model collaborative decision making between connected autonomous vehicles. This framework enables human-like decision making and control of autonomous vehicles, which leads to safer and more efficient driving in complicated traffic scenarios. The book will be of interest to students and professionals alike, in the field of automotive engineering, computer engineering and control engineering.



Cooperative Control of Dynamical Systems

Author : Zhihua Qu

Publisher : Springer

Page : 325 pages

File Size : 50,33 MB

Release : 2009-02-19

Category : Technology & Engineering

ISBN : 9781848823242

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Book Description

Stability theory has allowed us to study both qualitative and quantitative properties of dynamical systems, and control theory has played a key role in designing numerous systems. Contemporary sensing and communication n- works enable collection and subscription of geographically-distributed inf- mation and such information can be used to enhance signi?cantly the perf- manceofmanyofexisting systems. Throughasharedsensing/communication network,heterogeneoussystemscannowbecontrolledtooperaterobustlyand autonomously; cooperative control is to make the systems act as one group and exhibit certain cooperative behavior, and it must be pliable to physical and environmental constraints as well as be robust to intermittency, latency and changing patterns of the information ?ow in the network. This book attempts to provide a detailed coverage on the tools of and the results on analyzing and synthesizing cooperative systems. Dynamical systems under consideration can be either continuous-time or discrete-time, either linear or non-linear, and either unconstrained or constrained. Technical contents of the book are divided into three parts. The ?rst part consists of Chapters 1, 2, and 4. Chapter 1 provides an overview of coope- tive behaviors, kinematical and dynamical modeling approaches, and typical vehicle models. Chapter 2 contains a review of standard analysis and design tools in both linear control theory and non-linear control theory. Chapter 4 is a focused treatment of non-negativematrices and their properties,multipli- tive sequence convergence of non-negative and row-stochastic matrices, and the presence of these matrices and sequences in linear cooperative systems.



Motion Planning and Control of Autonomous Vehicles Using Collision and Rendezvous Cones

Author : Vishwamithra Reddy Sunkara

Publisher :

Page : 168 pages

File Size : 19,81 MB

Release : 2018

Category : Electronic dissertations

ISBN :

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Book Description

This dissertation uses the notion of collision cones and rendezvous cones to address several motion planning problems for autonomous vehicles. Collision avoidance is fundamental to the problem of planning safe trajectories in dynamic environments. This problem appears in several diverse elds including robotics, air vehicles, underwater vehicles and computer animation. In the rendezvous problem, generating appropriate trajectories to achieve overlap of footprints of unmanned aerial vehicles is important in problems related to search and surveillance, and for establishing communication between a network of UAVs, or between a user and a base station in remote areas. In the collision avoidance problem, much of the collision avoidance literature assumes shapes of the objects as circles. However, when objects are operating in closer proximity, or when objects are elongated and/or have non-convex shapes, a less conservative approach, that considers the exact shapes of the objects, is more desirable. This dissertation presents analytical collision avoidance laws in cooperative and non-cooperative dynamic environments. The collision avoidance laws are simulated on Ionic Polymer-Metal Composite (IPMC) actuated robotic sh. Collision cones are also used to analyze pursuit evasion games between two objects of arbitrary shapes. Collision avoidance of objects that can deform by changing their shape as a function of time is also presented. The rendezvous problem requires communication/sensing footprints of vehicles to overlap. The need of the footprints to overlap is dictated by the requirement that no part of the sensed area is left uncovered in a search and surveillance operation; or by the need to position a relay UAV in the overlap region of two distant UAVs in order to enable them to communicate with each other. The concept of a rendezvous cone is used as the basis for the development of nonlinear analytical guidance laws that enable the overlap of footprints to the requisite depth.



Advances in Intelligent Vehicles

Author : Yaobin Chen

Publisher : Academic Press

Page : 333 pages

File Size : 26,68 MB

Release : 2014-03-20

Category : Computers

ISBN : 0123973279

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Book Description

Advances in Intelligent Vehicles presents recent advances in intelligent vehicle technologies that enhance the safety, reliability, and performance of vehicles and vehicular networks and systems. This book provides readers with up-to-date research results and cutting-edge technologies in the area of intelligent vehicles and transportation systems. Topics covered include virtual and staged testing scenarios, collision avoidance, human factors, and modeling techniques. The Series in Intelligent Systems publishes titles that cover state-of-the-art knowledge and the latest advances in research and development in intelligent systems. Its scope includes theoretical studies, design methods, and real-world implementations and applications. - Provides researchers and engineers with up-to-date research results and state-of-the art technologies in the area of intelligent vehicles and transportation systems - Covers hot topics, including driver assistance systems; cooperative vehicle-highway systems; collision avoidance; pedestrian protection; image, radar and lidar signal processing; and V2V and V2I communications



Intersection Collision Avoidance for Autonomous Vehicles Using Petri Nets

Author : Valli Sanghami Shankar Kumar

Publisher :

Page : 94 pages

File Size : 28,93 MB

Release : 2019

Category :

ISBN :

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Book Description

Autonomous vehicles currently dominate the automobile field for their impact on humanity and society. Connected and Automated Vehicles (CAV's) are vehicles that use different communication technologies to communicate with other vehicles, infrastructure, the cloud, etc. With the information received from the sensors present, the vehicles analyze and take necessary steps for smooth, collision-free driving. This the sis talks about the cruise control system along with the intersection collision avoidance system based on Petri net models. It consists of two internal controllers for velocity and distance control, respectively, and three external ones for collision avoidance. Fault-tolerant redundant controllers are designed to keep these three controllers in check. The model is built using a PN toolbox and tested for various scenarios. The model is also validated, and its distinct properties are analyzed.



Safety-aware Intelligent Transportation Systems

Author : Lamia Iftekhar

Publisher :

Page : 196 pages

File Size : 41,57 MB

Release : 2017

Category : Automated vehicles

ISBN :

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Book Description

Safety in transportation systems is a global concern with millions of road accidents happening worldwide every year. Despite sophisticated advancement in automotive design and accident serverity reduction technologies, traffic fatalities continue to persist and the overwhelming majority has driver behavior as a causative factor. Human drivers are susceptible to distraction, fatigue, substance abuse and inherent limitations in prediction and reaction capabilities. This explains the longstanding interest among the industry and government experts for the development of driver assistance systems, resulting in semi-autonomous vehicles. But further benefits can be reaped if fully autonomous vehicles are used, provided that the overall safety is ensured. A network of cooperative, fully autonomous vehicles can not only decrease the accident rates, but also help in solving other traffiic problems such as time and space inefficiency and waste of fuel due to congestion. We design a framework for cooperative autonomous vehicles that focuses on safely sharing existing roads with human-driven vehicles. Our design approach is inspired by the flocking behavior of birds; one of the primary goals of a driver is collision avoidance and that happens to be a byproduct of the flocking behavior. This project enables cyber-physical vehicles to achieve all basic driving tasks such as lane-driving, braking, and turning using distributed control algorithms. We also model human driver behavior so that the self-driving vehicles can take their surrounding human behavioral factors into account. These hybrid control algorithms create a network of autonomous vehicles with nonlinear switching dynamics. We provide experimental results that illustrate the stability, effectiveness, and safety-awareness of our cooperative autonomous driving algorithms.



Autonomous Road Vehicle Path Planning and Tracking Control

Author : Levent Guvenc

Publisher : John Wiley & Sons

Page : 256 pages

File Size : 49,34 MB

Release : 2021-12-06

Category : Technology & Engineering

ISBN : 1119747961

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Book Description

Discover the latest research in path planning and robust path tracking control In Autonomous Road Vehicle Path Planning and Tracking Control, a team of distinguished researchers delivers a practical and insightful exploration of how to design robust path tracking control. The authors include easy to understand concepts that are immediately applicable to the work of practicing control engineers and graduate students working in autonomous driving applications. Controller parameters are presented graphically, and regions of guaranteed performance are simple to visualize and understand. The book discusses the limits of performance, as well as hardware-in-the-loop simulation and experimental results that are implementable in real-time. Concepts of collision and avoidance are explained within the same framework and a strong focus on the robustness of the introduced tracking controllers is maintained throughout. In addition to a continuous treatment of complex planning and control in one relevant application, the Autonomous Road Vehicle Path Planning and Tracking Control includes: A thorough introduction to path planning and robust path tracking control for autonomous road vehicles, as well as a literature review with key papers and recent developments in the area Comprehensive explorations of vehicle, path, and path tracking models, model-in-the-loop simulation models, and hardware-in-the-loop models Practical discussions of path generation and path modeling available in current literature In-depth examinations of collision free path planning and collision avoidance Perfect for advanced undergraduate and graduate students with an interest in autonomous vehicles, Autonomous Road Vehicle Path Planning and Tracking Control is also an indispensable reference for practicing engineers working in autonomous driving technologies and the mobility groups and sections of automotive OEMs.