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Vehicle to Vehicle (V2V) communication systems enable vehicles to communicate with each other and use the shared information to make safety related decisions. However, the safety improvement of the current V2V systems only benefits V2V-enabled objects in the V2V network. The Pedestrian Automatic Emergency Braking System (PAEB) can utilize onboard sensors to detect pedestrians and make safety related...
To deal with the traffic congestion and emissions, traffic-responsive control approaches can be used. The main aim of the control is then to use the existing capacity of the network efficiently, and to reduce the harmful economical and environmental effects of heavy traffic. In this paper, we design a highly efficient model-predictive control system that uses a gradient-based approach to solve the...
Today, a wide range of commercial signal optimization tools have been developed for optimizing traffic signal timing plans. However, incapability of such programs to consider the stochastic variations in traffic conditions calls for integrating optimization techniques with a microscopic simulation environment. In this study, the Particle Swarm Optimization (PSO) algorithm is used as an optimizer for...
This paper aims to develop a control algorithm for a unicycle type AGV (Automated Guided Vehicle) to follow a trajectory predefined by a line avoiding oscillation on its movements. At the first tests the PID controller will be applied. On some applications cameras are used to help a robot follow a track (instead of infra red sensors), determining if it should keep a forward movement or turn to any...
This article describes a novel automatic steering system for a 36.0m long double articulated bus equipped with four independent steer-by-wire axles. A model-based control design approach is proposed, which uses a kinematic vehicle model to design a train-like guidance system and a force-canceling that avoids excessive mechanical stress in the joints and the chassis.
One of the most exciting applications of V2X technologies, that is envisioned, is the platooning of a series of autonomous vehicles led by a manually driven vehicle. However, the realization of this application depends entirely on the efficacy of a platoon control algorithm and the communication channel amongst the platoon members. There are many different control algorithms that are being considered...
An online driving style recognition system using fuzzy logic has recently proven to work well and showed potential to optimize its parameters. This paper is about the efficient parameter optimization of such a system. To overcome combinatorial explosion, we introduce heuristics to express the main influential parameters of the system, which itself is divided into two layers. First, we use a method...
The Cooperative Adaptive Cruise Control (CACC) is one of the most promising aiding systems to improve traffic flow in highways. When it comes to design a proper control algorithm, robustness against non-modeled dynamics and noise plays a key role not only for improving controller performance but also for increasing the ability of handling heterogeneous vehicle strings. This paper proposes a fractional...
This paper presents a method of estimating traffic density on a highway/freeway from cellular network data. The speed of the traffic is calculated/ measured from the cellular network communication between the vehicles and the network. The model for estimating the density from the speed is developed from the cellular data. The results are then validated through the one-equation partial differential...
Cooperative Advanced Driving Assistance Systems (C-ADAS) require both efficient perception and communication technologies. Experimentation of such systems in real world conditions is needed before their deployment. However, this is a difficult task since it deals with complex road scenarios and substantial experimental cost. To limit ADAS real experimentation constraints, we propose the design and...
In this paper, a novel anomaly detection method ispresented by using quaternion numbers to model traffic signals. A signal processing approach is proposed to deal with traffic surveillance. Traffic structures are depicted using directed graph models. The relationship among different traffic direction signals are represented through using quaternion numbers instead of individual representation of one...
Intelligent vehicle safety systems are based on the awareness of vehicle's dynamics states. In this article, we propose the development of an onboarded software (called virtual sensor) aiming at estimating the non-measured vehicle dynamics states, based on the fusion of different vehicle models. The virtual sensor developed in this paper is a system consisted of four observers, which is able to extract...
Whatever type of distraction during the driving of a vehicle can compromise the safety of not the driver, but also of all drivers present on the highway. Using the mobile while driving is the greatest examples of this problem at a global level. In this regard, a system that helps the driver improve and keep up the attention on the road, could be a solution. This paper proposes a cooperative assistance...
This paper aims to control roll, pitch and vertical displacement of the suspended mass in a passenger vehicle during on-road drive by means of controlling the active suspension system. One of the goals of this control is to isolate the suspended mass in the vehicle from any road perturbation to ensure a big amount of comfort to the passengers (less roll, less pitch and less vibrations). Two strategies...
For a given route, vehicle and time of departure we consider the problem of energy consumption prediction. It is of prime importance in eco-routing applications since prediction errors reflect heavily on its performance. The problem is nonlinear, nondeterministic and the information on which we can base these predictions is often sparse. We consider longitudinal vehicle consumption model of an ideal...
Vehicles equipped with varying levels of automation and connection are starting to share the road with conventional vehicles. This provides new opportunities to design and test systems to control the acceleration dynamics of those equipped vehicles in mixed traffic environment contexts, with the global aim to globally reduce traffic congestion and increase traffic safety. Recent work has been focusing...
Since the second half of the last century, the continuous increase of freight demand has generated increasing levels of traffic congestion that, especially for terminals located inside or near the cities, have sometimes become intolerable. In this paper, to the aim of evaluating the impact of freight traffic, a hybrid traffic model for representing the queues of vehicles at junctions or at the gates...
Lane detection algorithm using a vision sensor or a camera would be more effective for self-driving vehicles to keep in lane, if it is possible to derive a distance ratio between a vehicle and left-right lanes. However, a dangerous situation may occur if the performance of the camera (e.g., frame/sec.) and the real-time speed of the vehicle are not considered properly because of the huge distance...
Aimed to solve the armored vehicles' features and the steering control problem, a dual steering control strategy based on DYC and the traction control is established. Based on the DYC, which is controlled by yaw angular velocity tracking control, the armored vehicles' dual steering and slip optimal control are realized. It improve the vehicles' performance in steering and steady effectively. And the...
Aiming at the problems about the short driving range of the electrical vehicle, in this paper, the ultra-capacitor is inserted into the control system, then a pure electric city bus with the proposed hybrid energy storage system (HESS) produced by CENS Energy Tech Co. is taken an example, the reasonable configuration model of the power system is modelled in MATLAB-CRUISE, the power flow analysis on...
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