Connected and Automated Vehicles

Modeling and Simulation Of The Automated Highway System

Eskafi, Farokh H.
1996

This report presents the hierarchical structure for the control design of an Automated Highway System (AHS). This control hierarchy has four layers: network, link, coordination, and regulation. It is used to model different AHS proposals. Control layers and the internal structure of each layer and the interfaces between then are described. Three basic maneuvers are described: join, split, and change lane. The SmartPath simulation tools are described to enable simulating AHS scenarios. The advantages of SmartPath include providing a graphical interface, providing microsimulation, and also...

Zero-Shot Autonomous Vehicle Policy Transfer: From Simulation to Real-World via Adversarial Learning

Chalaki, Behdad
Beaver, Logan E.
Remer, Ben
Jang, Kathy
Vinitsky, Eugene
Bayen, Alexandre
Malikopoulos, Andreas A.
2020

In this article, we demonstrate a zero-shot transfer of an autonomous driving policy from simulation to University of Delaware's scaled smart city with adversarial multi-agent reinforcement learning, in which an adversary attempts to decrease the net reward by perturbing both the inputs and outputs of the autonomous vehicles during training. We train the autonomous vehicles to coordinate with each other while crossing a roundabout in the presence of an adversary in simulation. The adversarial policy successfully reproduces the simulated behavior and incidentally outperforms, in terms of...

Feasibility of a Gyroscope-Free Inertial Navigation System for Tracking Rigid Body Motion

Tan, Chin-Woo
Mostov, Kirill
Varaiya, Pravin
2000

We study the feasibility of designing an accelerometer-based gyroscope-free inertial navigation system (INS) that uses only accelerometers to compute the linear and angular motions of a rigid body.

Development and Field Testing of An Interactive Transit Station Information System (ITSIS) Using Connected Vehicle Technologies

Meng, Huadong
Tsao, Jacob
Zhou, Kun
Picar, Justin
Mizuno, Bradley
Zhang, Wei-Bin
2018

The objective of Interactive Transit Station Information System (ITSIS) is to better inform transit travelers during their trips and to enable dynamic transit operations to better serve travelers. The ultimate goal is to make transit more friendly and attractive to the traveling population such that transit will become a viable choice for travel and an integrated part of the solution for congestion relief. This report documents a research effort to develop and test a ITSIS prototype that uses Connected Vehicle technologies to enable the real-time interaction between passengers and transit...

A Staggered-Diamond Design For Automated/Manual - HOV Highway-to-Highway Interchange

Tsao, Jacob
1995

This paper proposes a staggered-diamond design for automated connector ramps for an Automated Highway System (AHS). After describing the main features of this design, the paper discusses the constraints on AHS operational design imposed by the requirement for continuous automated highway-to-highway driving. The constraints on AHS evolution due to the same requirement are then discussed.

A Specification Of An Automated Freeway With Vehicle-Borne Intelligence

Hitchcock, Anthony
1992

The focus of this work is to derive a technique of safety analysis for an automated freeway system. To demonstrate the method of safety analysis a procedure called fault tree analysis is applied. The specified freeway operates with vehicles in platoons. The safety criterion used here is that two or more simultaneous faults must occur independently before the hazards can arise.

Single-Channel IVHS Communication Architecture

Linnartz, Jean-paul M. G.
1994

This report documents a single-channel architecture offering two-way communication between vehicles and a fixed communication infrastructure. Part I discusses the technical advantages and disadvantages of a dedicated Intelligent Vehicle Highway Systems (IVHS) communications infrastructure versus the use of a hybrid system involving several existing communication networks. Aspects such as spectrum efficiency, message capacity, and network performance are described. Part II proposes a network architecture that offers several transmission services essential to IVHS communications, using only...

Longitudinal Control Of A Platoon Of Vehicles. II, First And Second Order Time Derivatives Of Distance Deviations

Sheikholeslam, Shahab
Desoer, Charles A.
1989

This report is an addendum to PATH Research ReportUCB-ITS-PRR-89-3.

Evaluation Of Mixed Automated/Manual Traffic

Ioannou, Petros
1998

The advance in research and development will make the deployment of automated vehicles a reality in the near future. The principal question is whether these technologies will lead to any benefits in terms of safety, capacity and traffic flow characteristics as they penetrate the current transportation system. Another aspect is how to exploit these technologies in order to achieve benefits without adversely affecting the efficiency of the current transportation system and the drivers who cannot afford them. The penetration of automated vehicles into the existing transportation system will...

Robust Eco-Driving Control of Autonomous Vehicles Connected to Traffic Lights

Sun, Chao
Guanetti, Jacopo
Borrelli, Francesco
Moura, Scott
2019

This paper focuses on the speed planning problem for connected and automated vehicles (CAVs) communicating to traffic lights. The uncertainty of traffic signal timing for signalized intersections on the road is considered. The eco-driving problem is formulated as a data-driven chance constrained robust optimization problem. Effective red light duration (ERD) is defined as a random variable, and describes the feasible passing time through the signalized intersections. In practice, the true probability distribution for ERD is usually unknown. Consequently, a data-driven approach is adopted...