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1.
This paper focuses on the lane-changing trajectory planning (LTP) process in the automatic driving technologies. Existing studies on the LTP algorithms are primarily the static planning method in which the states of the surrounding vehicles of a lane-changing vehicle are assumed to keep unchanged in the whole lane-changing process. However, in real-world traffic, the velocities of the surrounding vehicles change dynamically, and the lane-changing vehicle needs to adjust its velocity and positions correspondingly in real-time to maintain safety. To address such limitations, the dynamic lane-changing trajectory planning (DLTP) model is proposed in the limited literature. This paper proposes a novel DLTP model consisting of the lane-changing starting-point determination module, trajectory decision module and trajectory generation module. The model adopts a time-independent polynomial trajectory curve to avoid the unrealistic assumptions on lane-changing velocities and accelerations in the existing DLTP model. Moreover, a rollover-avoidance algorithm and a collision-avoidance algorithm containing a reaction time are presented to guarantee the lane-changing safety of automated vehicles, even in an emergent braking situation. The field lane-changing data from NGSIM data are used to construct a real traffic environment for lane-changing vehicles and verify the effectiveness of the proposed model, and CarSim is applied to investigate the traceability of the planned lane-changing trajectories using the proposed model. The results indicate that an automated vehicle can complete the lane-changing process smoothly, efficiently and safely following the trajectory planned by the proposed model, and the planned velocity and trajectory can be well-tracked by automated vehicles. 相似文献
2.
ABSTRACTAV technologies have the potential to transform urban landscapes and existing transport systems and networks. Yet, the utopian imaginary of reduced automobile ownership and a new shared economic future sits in tension with suggestions that car dependency, urban sprawl and transport inaccessibility will be exacerbated. The issues are situated in a complex governance landscape involving an influential private sector who are increasingly setting the agenda. The public sector may be forced into reacting to the new innovations by information technology and automobile companies as they are introduced into existing built environments. Drawing on an extensive literature base and interviews with public sector planners, this paper reveals the conceptual gaps in the framing of AV technology – the prospects and limits – and how these are conceived. The paper raises questions about the role urban planning can play in the rollout of AVs in order to anticipate and mediate unwanted built environment and socio-spatial impacts, as well as reconciling the ambition of transport innovation with the public purpose of planning. 相似文献
3.
It is often argued that driverless vehicles will save lives. In this paper, we treat the ethical case for driverless vehicles seriously and show that it has radical implications for the future of transport. After briefly discussing the current state of driverless vehicle technology, we suggest that systems that rely upon human supervision are likely to be dangerous when used by ordinary people in real-world driving conditions and are unlikely to satisfy the desires of consumers. We then argue that the invention of fully autonomous vehicles that pose a lower risk to third parties than human drivers will establish a compelling case against the moral permissibility of manual driving. As long as driverless vehicles aren’t safer than human drivers, it will be unethical to sell them. Once they are safer than human drivers when it comes to risks to 3rd parties, then it should be illegal to drive them: at that point human drivers will be the moral equivalent of drunk robots. We also describe two plausible mechanisms whereby this ethical argument may generate political pressure to have it reflected in legislation. Freeing people from the necessity of driving, though, will transform the relationship people have with their cars, which will in turn open up new possibilities for the transport uses of the automobile. The ethical challenge posed by driverless vehicles for transport policy is therefore to ensure that the most socially and environmentally beneficial of these possibilities is realised. We highlight several key policy choices that will determine how likely it is that this challenge will be met. 相似文献
4.
The introduction of connected and autonomous vehicles will bring changes to the highway driving environment. Connected vehicle technology provides real-time information about the surrounding traffic condition and the traffic management center’s decisions. Such information is expected to improve drivers’ efficiency, response, and comfort while enhancing safety and mobility. Connected vehicle technology can also further increase efficiency and reliability of autonomous vehicles, though these vehicles could be operated solely with their on-board sensors, without communication. While several studies have examined the possible effects of connected and autonomous vehicles on the driving environment, most of the modeling approaches in the literature do not distinguish between connectivity and automation, leaving many questions unanswered regarding the implications of different contemplated deployment scenarios. There is need for a comprehensive acceleration framework that distinguishes between these two technologies while modeling the new connected environment. This study presents a framework that utilizes different models with technology-appropriate assumptions to simulate different vehicle types with distinct communication capabilities. The stability analysis of the resulting traffic stream behavior using this framework is presented for different market penetration rates of connected and autonomous vehicles. The analysis reveals that connected and autonomous vehicles can improve string stability. Moreover, automation is found to be more effective in preventing shockwave formation and propagation under the model’s assumptions. In addition to stability, the effects of these technologies on throughput are explored, suggesting substantial potential throughput increases under certain penetration scenarios. 相似文献
6.
With 36 ventures testing autonomous vehicles (AVs) in the State of California, commercial deployment of this disruptive technology is almost around the corner (California Department of Transportation, 2016). Different business models of AVs, including Shared AVs (SAVs) and Private AVs (PAVs), will lead to significantly different changes in regional vehicle inventory and Vehicle Miles Travelled (VMT). Most prior studies have already explored the impact of SAVs on vehicle ownership and VMT generation. Limited understanding has been gained regarding vehicle ownership reduction and unoccupied VMT generation potentials in the era of PAVs. Motivated by such research gap, this study develops models to examine how much vehicle ownership reduction can be achieved once private conventional vehicles are replaced by AVs and the spatial distribution of unoccupied VMT accompanied with the vehicle reduction. The models are implemented using travel survey and synthesized trip profile from Atlanta Metropolitan Area. The results show that more than 18% of the households can reduce vehicles, while maintaining the current travel patterns. This can be translated into a 9.5% reduction in private vehicles in the study region. Meanwhile, 29.8 unoccupied VMT will be induced per day per reduced vehicles. A majority of the unoccupied VMT will be loaded on interstate highways and expressways and the largest percentage inflation in VMT will occur on minor local roads. The results can provide implications for evolving trends in household vehicles uses and the location of dedicated AV lanes in the PAV dominated future. 相似文献
7.
This work addresses the formation phase of automatic platooning. The objective is to optimally control the throttle of vehicles, with a given arbitrary initial condition, such that desired ground speed and inter-vehicular spacings are reached. The steering of the vehicles is also controlled, because the vehicles should track a desired path while forming the platoon. In order to address the platoon formation problem, a cooperative strategy is formed by constructing a discrete state space model which represents the dynamics of a set of n vehicles. Once this model is set, a control method known as Interpolating Control, which aims at regulating to the origin an uncertain and/or time-varying linear discrete-time system with state and control constraints, is utilized. The performance of this control method is evaluated and compared with other approaches such as Model Predictive Control (MPC).Simulations are conducted which suggest that the Interpolating Control approach can be seen as an alternative to optimization-based control schemes such as Model Predictive Control, especially for problems for which finding the optimal solution requires calculations, where the Interpolating Control approach can provide a straightforward sub-optimal solution.In the experimental part of this work, the control algorithms for the platoon formation and path tracking problems are combined, and tested in a laboratory environment, using three mobile robots equipped with wireless routers. Validation of the proposed models and control algorithms is achieved by successful experiments. 相似文献
8.
Connected Vehicle Technology (CVT) requires wireless data transmission between vehicles (V2V), and vehicle-to-infrastructure (V2I). Evaluating the performance of different network options for V2V and V2I communication that ensure optimal utilization of resources is a prerequisite when designing and developing robust wireless networks for CVT applications. Though dedicated short range communication (DSRC) has been considered as the primary communication option for CVT safety applications, the use of other wireless technologies (e.g., Wi-Fi, LTE, WiMAX) allow longer range communications and throughput requirements that could not be supported by DSRC alone. Further, the use of other wireless technology potentially reduces the need for costly DSRC infrastructure. In this research, the authors evaluated the performance of Het-Net consisting of Wi-Fi, DSRC and LTE technologies for V2V and V2I communications. An application layer handoff method was developed to enable Het-Net communication for two CVT applications: traffic data collection, and forward collision warning. The handoff method ensures the optimal utilization of available communication options (i.e., eliminate the need of using multiple communication options at the same time) and corresponding backhaul communication infrastructure depending on the connected vehicle application requirements. Field studies conducted in this research demonstrated that the use of Het-Net broadened the range and coverage of V2V and V2I communications. The use of the application layer handoff technique to maintain seamless connectivity for CVT applications was also successfully demonstrated and can be adopted in future Het-Net supported connected vehicle applications. A long handoff time was observed when the application switches from LTE to Wi-Fi. The delay is largely due to the time required to activate the 802.11 link and the time required for the vehicle to associate with the RSU (i.e., access point). Modifying the application to implement a soft handoff where a new network is seamlessly connected before breaking from the existing network can greatly reduce (or eliminate) the interruption of network service observed by the application. However, the use of a Het-Net did not compromise the performance of the traffic data collection application as this application does not require very low latency, unlike connected vehicle safety applications. Field tests revealed that the handoff between networks in Het-Net required several seconds (i.e., higher than 200 ms required for safety applications). Thus, Het-Net could not be used to support safety applications that require communication latency less than 200 ms. However, Het-Net could provide additional/supplementary connectivity for safety applications to warn vehicles upstream to take proactive actions to avoid problem locations. To validate and establish the findings from field tests that included a limited number of connected vehicles, ns-3 simulation experiments with a larger number of connected vehicles were conducted involving a DSRC and LTE Het-Net scenario. The latency and packet delivery error trend obtained from ns-3 simulation were found to be similar to the field experiment results. 相似文献
9.
Traffic waves are phenomena that emerge when the vehicular density exceeds a critical threshold. Considering the presence of increasingly automated vehicles in the traffic stream, a number of research activities have focused on the influence of automated vehicles on the bulk traffic flow. In the present article, we demonstrate experimentally that intelligent control of an autonomous vehicle is able to dampen stop-and-go waves that can arise even in the absence of geometric or lane changing triggers. Precisely, our experiments on a circular track with more than 20 vehicles show that traffic waves emerge consistently, and that they can be dampened by controlling the velocity of a single vehicle in the flow. We compare metrics for velocity, braking events, and fuel economy across experiments. These experimental findings suggest a paradigm shift in traffic management: flow control will be possible via a few mobile actuators (less than 5%) long before a majority of vehicles have autonomous capabilities. 相似文献
10.
Rapid advances in the development of autonomous and alternative-fuel vehicles (AFVs) are likely to transform the future of mobility and could bring benefits such as improved road safety and lower emissions. Achieving these potential benefits requires widespread consumer support for these disruptive technologies. To date, research to explore consumer perceptions of transport innovations has tended to consider them in isolation (e.g., driverless cars, electric vehicles). The current paper examines the predictors of consumer interest in and willing to pay for both AFVs and autonomous vehicles through a choice experiment conducted in six diverse markets: Germany, India, Japan, Sweden, UK and US. Using Latent Class Discrete Choice Models, we observe significant heterogeneity both within and across the country samples. For example, while Japanese consumers are generally willing to pay for autonomous vehicles, in most European countries, consumers need to be compensated for automation. Within countries, though, we found some segments – typically, those with a university degree, and self-identifying as having a pro-environmental identity and as being innovators– are more in favour of automation. Significantly, we also found that support for autonomous vehicles is associated with support for AFVs, perhaps, due to common demographic or socio-psychological predictors of both types of innovative technology. These findings are valuable for policymakers and the automotive industry in identifying potential early adopters, as well as consumer segments or cultures less convinced to adopt these innovative transport technologies. 相似文献
11.
Connected vehicle technology can be beneficial for traffic operations at intersections. The information provided by cars equipped with this technology can be used to design a more efficient signal control strategy. Moreover, it can be possible to control the trajectory of automated vehicles with a centralized controller. This paper builds on a previous signal control algorithm developed for connected vehicles in a simple, single intersection. It improves the previous work by (1) integrating three different stages of technology development; (2) developing a heuristics to switch the signal controls depending on the stage of technology; (3) increasing the computational efficiency with a branch and bound solution method; (4) incorporating trajectory design for automated vehicles; (5) using a Kalman filter to reduce the impact of measurement errors on the final solution. Three categories of vehicles are considered in this paper to represent different stages of this technology: conventional vehicles, connected but non-automated vehicles (connected vehicles), and automated vehicles. The proposed algorithm finds the optimal departure sequence to minimize the total delay based on position information. Within each departure sequence, the algorithm finds the optimal trajectory of automated vehicles that reduces total delay. The optimal departure sequence and trajectories are obtained by a branch and bound method, which shows the potential of generalizing this algorithm to a complex intersection.Simulations are conducted for different total flows, demand ratios and penetration rates of each technology stage (i.e. proportion of each category of vehicles). This algorithm is compared to an actuated signal control algorithm to evaluate its performance. The simulation results show an evident decrease in the total number of stops and delay when using the connected vehicle algorithm for the tested scenarios with information level of as low as 50%. Robustness of this algorithm to different input parameters and measurement noises are also evaluated. Results show that the algorithm is more sensitive to the arrival pattern in high flow scenarios. Results also show that the algorithm works well with the measurement noises. Finally, the results are used to develop a heuristic to switch between the different control algorithms, according to the total demand and penetration rate of each technology. 相似文献
12.
This study analyzes pedestrian receptivity toward fully autonomous vehicles (FAVs) by developing and validating a pedestrian receptivity questionnaire for FAVs (PRQF). The questionnaire included sixteen survey items based on attitude, social norms, trust, compatibility, and system effectiveness. 482 Participants from the United States (273 males and 209 females, age range: 18–71 years) responded to an online survey. A principal component analysis determined three subscales describing pedestrians’ receptivity toward FAVs: safety, interaction, and compatibility. This factor structure was verified by a confirmatory factor analysis and reliability of each subscale was confirmed (0.7 < Cronbach’s alpha < 0.9). Regression analyses investigated associations with scenario-based responses to the three PRQF subscale scores. Pedestrians’ intention to cross the road in front of FAVs was significantly predicted by both safety and interaction scores, but not by the compatibility score. Accepting FAVs in the existing traffic system was predicted by all three subscale scores. Demographic influence on the receptivity revealed that males and younger respondents were more receptive toward FAVs. Similarly, those from urban areas and people with higher personal innovativeness showed higher receptivity. Finally, a significant effect of pedestrian behavior (as measured by the pedestrian behavior questionnaire) on receptivity is explored. People who show positive behavior believed that the addition of FAVs will improve overall traffic safety. Those who show higher violation, lapse and aggression scores, were found to feel more confident about crossing the road in front of a FAV. This questionnaire can be a potential research tool for designing and improving FAVs for road-users outside the vehicles. 相似文献
13.
Automated driving is gaining increasing amounts of attention from both industry and academic communities because it is regarded as the most promising technology for improving road safety in the future. The ability to make an automated lane change is one of the most important parts of automated driving. However, there has been little research into automated lane change maneuvers, and current research has not identified a way to avoid potential collisions during lane changes, which result from the state variations of the other vehicles. One important reason is that the lane change vehicle cannot acquire accurate information regarding the other vehicles, especially the vehicles in the adjacent lane. However, vehicle-to-vehicle communication has the advantage of providing more information, and this information is more accurate than that obtained from other sensors, such as radars and lasers. Therefore, we propose a dynamic automated lane change maneuver based on vehicle-to-vehicle communication to accomplish an automated lane change and eliminate potential collisions during the lane change process. The key technologies for this maneuver are trajectory planning and trajectory tracking. Trajectory planning calculates a reference trajectory satisfying the demands of safety, comfort and traffic efficiency and updates it to avoid potential collisions until the lane change is complete. The trajectory planning method converts the planning problem into a constrained optimization problem using the lane change time and distance. This method is capable of planning a reference trajectory for a normal lane change, an emergency lane change and a change back to the original lane. A trajectory-tracking controller based on sliding mode control calculates the control inputs to make the host vehicle travel along the reference trajectory. Finally, simulations and experiments using a driving simulator are conducted. They demonstrate that the proposed dynamic automated lane change maneuver can avoid potential collisions during the lane change process effectively. 相似文献
14.
Vehicle-to-grid (V2G) is a technology which can reduce the cost for power distribution network operators by storing electricity in the batteries of electric-drive vehicles and retrieving it when energy demands increase during the course of a day. Participants of V2G are reimbursed for offering their vehicles which can lead to changes in trip schedules when V2G payments are high and travelers are sensitive to the payments. However, prior studies have ignored the effects of V2G on travelers’ schedules. This research gap is addressed with a bi-level V2G market equilibrium model where the lower level model determines the equilibrium activity patterns as a result of upper level pricing and linear approximated AC flow distribution decisions. An algorithm is proposed for the model and illustrated on a simple telecommuting example where travelers can work from home and offer their vehicle charge capacity to the power provider. The model is then applied to the same case study from Lam and Yin (2001) to first replicate the lower level equilibrium problem as a special case when no V2G is present, and then to show the potential effects of the V2G policy to decrease locational marginal prices for a distribution network operator. The proposed algorithm for the V2G policy resulted in a substantial 20% increase in social welfare over the benchmark equilibrium without V2G. 相似文献
15.
Autonomous and connected vehicles are expected to enable new tolling mechanisms, such as auction-based tolls, for allocating the limited roadway capacity. This research examines the public perception of futuristic auction-based tolling systems, with a focus on the public acceptance of such systems over current tolling practices on highways (e.g., dynamic and fixed tolling methodologies). Through a stated-preference survey, responses from 159 road-users residing in Virginia are elicited to understand route choice behavior under a descending price auction implemented on a hypothetical two-route network. Analysis of the survey data shows that there is no outright rejection of the presented auction-based tolling among those who are familiar with the current tolling methods. While males strongly support the new method, no clear pattern emerges among other demographic variables such as income and education level, and age. While high income respondents and regular commuters are more likely to pay higher tolls, no statistical significance between different genders, age groups, household sizes, and education levels is found. Based on the modeling results and the hypothetical road network, it is found that descending price tolling method yields higher average toll rates, and generates at least 70% more revenue when travel time saving is 30 min, and improves capacity utilization of the toll road significantly compared to fixed tolls. 相似文献
16.
Utility controlled-charging (UCC) of plug-in electric vehicles (PEVs) could potentially align vehicle charging with the availability of intermittent, renewable electricity sources. We investigated the case of a nightly charging program where the electric utility can control home PEV charging. To explore consumer acceptance of this form of UCC, we implemented a web-based survey of new vehicle buyers in Canada (n = 1470). The survey assessed interest in PEVs, explained UCC, and elicited openness to UCC through attitudinal questions and a stated choice experiment. We find potential for UCC support among one-half to two-thirds of respondents interested in purchasing a PEV, depending on the scenario. However, some respondents express concerns with privacy and loss of control. To quantify preferences for UCC, we estimated a latent class choice model where respondents chose between different PEV charging programs. The model identified four distinct respondent segments (or classes) that vary in their acceptance of UCC, as well as their valuation of renewable electricity, saving money on their electrical bill, and undergoing charging inconvenience. The overall sample was more sensitive to cost incentives than to renewable incentives, where cost-based UCC programs garnered 63–78% enrollment while renewable-based programs garnered only 49–59% enrollment. Overall, we observe the potential for widespread acceptance of UCC programs among Canadian PEV buyers, but program design and deployment will need to carefully acknowledge the various motivations and concerns of different vehicle buyer segments. 相似文献
17.
Perception system design is a vital step in the development of an autonomous vehicle (AV). With the vast selection of available off-the-shelf schemes and seemingly endless options of sensor systems implemented in research and commercial vehicles, it can be difficult to identify the optimal system for one’s AV application. This article presents a comprehensive review of the state-of-the-art AV perception technology available today. It provides up-to-date information about the advantages, disadvantages, limits, and ideal applications of specific AV sensors; the most prevalent sensors in current research and commercial AVs; autonomous features currently on the market; and localization and mapping methods currently implemented in AV research. This information is useful for newcomers to the AV field to gain a greater understanding of the current AV solution landscape and to guide experienced researchers towards research areas requiring further development. Furthermore, this paper highlights future research areas and draws conclusions about the most effective methods for AV perception and its effect on localization and mapping. Topics discussed in the Perception and Automotive Sensors section focus on the sensors themselves, whereas topics discussed in the Localization and Mapping section focus on how the vehicle perceives where it is on the road, providing context for the use of the automotive sensors. By improving on current state-of-the-art perception systems, AVs will become more robust, reliable, safe, and accessible, ultimately providing greater efficiency, mobility, and safety benefits to the public. 相似文献
18.
Reservation-based intersection control is a revolutionary idea for using connected autonomous vehicle technologies to improve intersection controls. Vehicles individually request permission to follow precise paths through the intersection at specific times from an intersection manager agent. Previous studies have shown that reservations can reduce delays beyond optimized signals in many demand scenarios. The purpose of this paper is to demonstrate that signals can outperform reservations through theoretical and realistic examples. We present two examples that exploit the reservation protocol to prioritize vehicles on local roads over vehicles on arterials, increasing the total vehicle delay. A third theoretical example demonstrates that reservations can encourage selfish route choice leading to arbitrarily large queues. Next, we present two realistic networks taken from metropolitan planning organization data in which reservations perform worse than signals. We conclude with significantly positive results from comparing reservations and signals on the downtown Austin grid network using dynamic traffic assignment. Overall, these results indicate that network-based analyses are needed to detect adverse route choices before traffic signals can be replaced with reservation controls. In asymmetric intersections (e.g. local road-arterial intersections), reservation controls can cause several potential issues. However, in networks with more symmetric intersections such as a downtown grid, reservations have great potential to improve traffic. 相似文献
19.
Conceptually, a Green Light Optimal Speed Advisory (GLOSA) system suggests speeds to vehicles, allowing them to pass through an intersection during the green interval. In previous papers, a single speed is computed for each vehicle in a range between acceptable minimum and maximum values (for example between standstill and the speed limit). This speed is assumed to be constant until the beginning of the green interval, and sent as advice to the vehicle. The goal is to optimise for a particular objective, whether it be minimisation of emissions (for environmental reasons), fuel usage or delay. This paper generalises the advice given to a vehicle, by optimising for delay over the entire trajectory instead of suggesting an individual speed, regardless of initial conditions – time until green, distance to intersection and initial speed. This may require multiple acceleration manoeuvres, so the advice is sent as a suggested acceleration at each time step. Such advice also takes into account a suitable safety constraint, ensuring that vehicles are always able to stop before the intersection during a red interval, thus safeguarding against last-minute signal control schedule changes. While the algorithms developed primarily minimise delay, they also help to reduce fuel usage and emissions by conserving kinetic energy. Since vehicles travel in platoons, the effectiveness of a GLOSA system is heavily reliant on correctly identifying the leading vehicle that is the first to be given trajectory advice for each cycle. Vehicles naturally form a platoon behind this leading vehicle. A time loop technique is proposed which allows accurate identification of the leader even when there are complex interactions between preceding vehicles. The developed algorithms are ideal for connected autonomous vehicle environments, because computer control allows vehicles’ trajectories to be managed with greater accuracy and ease. However, the advice algorithms can also be used in conjunction with manual control provided Vehicle-to-Infrastructure (V2I) communication is available. 相似文献