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Dynamic on-road driving scenarios require robust methods for planning a safe and feasible vehicle motion coping with both static and dynamic obstacles. Many of the different approaches which have been proposed to tackle this challenge are based on optimal control and employ local continuous or discrete optimization schemes. While discrete methods possess the ability to find reasonable solutions in...
Advanced Driver Assistance Systems (ADAS) towards autonomous driving require an ego vehicle localization on maps to be able to use the map data for e.g. behavior and trajectory prediction of traffic participants.
Field Operational Tests (FOT) or Naturalistic Driving Studies (NDS) is necessary to evaluate advanced driver assistance system (ADAS) as well as the naturalistic driver behavior. Due to incidents (related to crash events) may lead to collision accidents, it is necessary to do the related studies on incidents to improve traffic safety. In these studies a large volume of data was collected and a lot...
Taxi sharing services have been increasing in the past few years in several countries. In this paper we propose a solution to taxi sharing problem based on Vehicle Routing Problem (VRP) with Temporal Restriction. We approach the problem in a static way, for testing purposes. Two metaheuristics were used to determine the best travel plans for taxi sharing service, taking into account the pickup and...
On consideration of analyzing the relation between drivers' decisions when the vehicle-cross process happens in a non-signalized intersection, a cooperative driving model is proposed based on reduplicate dynamic game. Considering some driving characteristics in our daily life, a profit function is established with safety, rapidity and comfort indicators in vehicle-cross process. Then, the multiple...
This article presents a path planning concept for automated driving. It builds upon existing approaches using quintic polynomials for path planning in structured environments. The contribution of this work are analytical solutions to evaluate selected properties of quintic polynomial based paths such as maximum acceleration and jerk or overshooting behavior. In addition, a concept for generating asymmetrical...
One of the key factors to ensure the safe operation of autonomous and semi-autonomous vehicles in dynamic environments is the ability to accurately predict the motion of the dynamic obstacles in the scene. In this work, we show how to use a realistic driver model learned from demonstrations via Inverse Reinforcement Learning to predict the long-term evolution of highway traffic scenes. We model each...
Autonomous Underwater Vehicle (AUV) technology has significant research potential, specifically for harsh maritime environment operations. Memorial University of Newfoundland recognized this potential and in 2005 the University commissioned an International Submarine Engineering Explorer AUV to be built. The Marine Environmental Research Lab for Intelligent Vehicles (MERLIN) was established to manage,...
Increasing penetration of decentralized energy production as well as the propagation of new transportation paradigms such as transportation electrification, autonomous vehicles and mobility-on-demand will require interrelated key changes to current transportation and power systems. To diminish negative environmental impacts and achieve longterm sustainability, close integration between transportation...
Accidents caused by heavy vehicles, are a serious worldwide safety problem. Preventing these accidents demands thorough knowledge about vehicle dynamic state as well as other vehicle parameters. For this purpose, High-Order Sliding-Mode Observer (HOSMO) is employed to estimate the dynamic states and parameters of the heavy vehicles to evaluate the rollover threat and warning signals are issued sufficiently...
The aim of this work is the implementation of an intelligent system based ant colony algorithm to control a traffic signal intersection where the main goal is to reduce the average waiting time of the vehicles at the intersection. First a dynamic mathematical model of the flow at an intersection is given. Second, the intelligent system is implemented electronically around an Arduino microcontroller...
The management of pre hospital logistics is addressed by several researchers. That is due to the big impact that has healthcare around the city development. Thus, optimizing emergency traffic helps to smart cities growth. This paper includes coverage problems existing in literature and addresses the ambulance allocation to cover sectors in Casablanca region of Morocco and minimize the lateness of...
This article implies the results of attitude determination of land vehicle with high precision GNSS signal receivers. We analyze vehicle roll angle, heading and geometric centre determination possibility and precision. There are theoretical and practical results presented in the article. In aim to implement the practical part two precise GNSS receivers were installed on the roof of a vehicle. GNSS...
Cost, poor energy density and long charging time of batteries are a barrier to electro-mobility. Dynamic inductive power transfer is an effective technology able to overcome these limits. The paper presents the problem formulation, the methodology and the models for the analysis of the human exposure to the stray magnetic field with application to a light electric commercial vehicle.
In this paper, a novel sliding mode (SM) control is developed for vehicle lane keeping. The proposed SM controller can enable the vehicle to track the reference road center-line and yaw direction with zero errors. The idea behind the SM controller are as follows: first, lateral vehicle dynamics system is divided into two subsystems. Lateral position error dynamics system is recognized as a predominant...
The relevance of decision making in autonomous systems is intrinsically related to the system capacity to discriminate its perception-action states. This is particularly challenging in unknown and changing complex environments, where providing a complete a priori representation to the system is not possible. To illustrate the problem, let us consider a decentralized control of road traffic, where...
Humans display a variety of behaviors including greedy and other unexpected biases during emergency situations. In this paper, we study the effect of such behaviors on traffic patterns during an emergency situation. In particular, we assume that during an emergency there are traffic police or other personnel trying to guide the vehicles so that the traffic clearance is sped up (to minimize the human...
In the last years there has been a rising interest in monitoring driver behaviors by using smartphones, due to their increasing market penetration. Inertial sensors embedded in these devices are key to carry out this task. Most of the state-of-the-art apps use fix thresholds to detect driving events from the inertial sensors. However, sensors output values can differ depending on many parameters....
Increasing automation of vehicle guidance is one of the major trends in the automotive industry. Some auto makers have announced that automated vehicles will be deployed in public traffic by the end of this decade (level 4 in sense of the definition of SAE, level 5 later). Until then, one central challenge is ensuring functional safety of automated vehicles. Still, it is not clear how safety concepts...
Unfamiliar urban intersections pose high demand on drivers. They are not only engaged in correctly assessing large amount of visual stimuli, including multiple diverse moving objects (e.g. other vehicles, pedestrians, cyclists) but also actively processing instructions provided by navigation system, either in-car or on other devices such as smart-phones. In such a highly dynamic and engaging situation,...
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