Purpose–Automated driving systems(ADSs)are being developed to avoid human error and improve driving safety.However,limited focus has been given to the fallback behavior of automated vehicles,which act as a fail-safe ...Purpose–Automated driving systems(ADSs)are being developed to avoid human error and improve driving safety.However,limited focus has been given to the fallback behavior of automated vehicles,which act as a fail-safe mechanism to deal with safety issues resulting from sensor failure.Therefore,this study aims to establish a fallback control approach aimed at driving an automated vehicle to a safe parking lane under perceptive sensor malfunction.Design/methodology/approach–Owing to an undetected area resulting from a front sensor malfunction,the proposed ADSfirst creates virtual vehicles to replace existing vehicles in the undetected area.Afterward,the virtual vehicles are assumed to perform the most hazardous driving behavior toward the host vehicle;an adaptive model predictive control algorithm is then presented to optimize the control task during the fallback procedure,avoiding potential collisions with surrounding vehicles.This fallback approach was tested in typical cases related to car-following and lane changes.Findings–It is confirmed that the host vehicle avoid collision with the surrounding vehicles during the fallback procedure,revealing that the proposed method is effective for the test scenarios.Originality/value–This study presents a model for the path-planning problem regarding an automated vehicle under perceptive sensor failure,and it proposes an original path-planning approach based on virtual vehicle scheme to improve the safety of an automated vehicle during a fallback procedure.This proposal gives a different view on the fallback safety problem from the normal strategy,in which the mode is switched to manual if a driver is available or the vehicle is instantly stopped.展开更多
A new transportation technology known as personal rapid transit （PRT） is being developed by multiple different companies around the world, and one system is under commercial operations in the United Kingdom. Each de...A new transportation technology known as personal rapid transit （PRT） is being developed by multiple different companies around the world, and one system is under commercial operations in the United Kingdom. Each design is different, but they all share a need to operate many automated transit vehicles at very close headways. Safe operation will require a level of control an order of magnitude above any current transit system. As a result, new techniques will be needed for the development and testing of the mechanical and control systems. In this paper an apparatus for developing and testing a PRT vehicle control scheme is demonstrated. This system is composed of independent modules that represent virtual vehicles, a central control system, a man-machine interface and a monitoring device. It can be used to implement and to evaluate the designed vehicle control algorithm. The vehicle control algorithm is designed and simulated in a combined simulation platform that consists of Matlab/Simulink and Labview Simulation Interface Toolkit. Simple operational scenarios are proposed for the testing of the proposed vehicle control apparatus.展开更多
In recent years,IoV(Internet of Vehicles)has become one of the most active research elds in network and intelligent transportation system.As an open converged network,IoV plays an important role in solving various dri...In recent years,IoV(Internet of Vehicles)has become one of the most active research elds in network and intelligent transportation system.As an open converged network,IoV plays an important role in solving various driving and traffc problems by advanced information and communications technology.We review the existing notions of IoV from di erent perspectives.Then,we provide our notion from a network point of view and propose a novel IoV architecture with four layers.Particularly,a novel layer named coordinative computing control layer is separated from the application layer.The novel layer is used for solving the coordinative computing and control problems for human-vehicle-environment.After summarizing the key technologies in IoV architecture,we construct a VV(Virtual Vehicle),which is an integrated image of driver and vehicle in networks.VVs can interact with each other in cyber space by providing traffc service and sharing sensing data coordinately,which can solve the communication bottleneck in physical space.Finally,an extended IoV architecture based on VVs is proposed.展开更多
基金supported in part by the State Key Laboratory of Automotive Safety and Energy under Project No.KF1815.
文摘Purpose–Automated driving systems(ADSs)are being developed to avoid human error and improve driving safety.However,limited focus has been given to the fallback behavior of automated vehicles,which act as a fail-safe mechanism to deal with safety issues resulting from sensor failure.Therefore,this study aims to establish a fallback control approach aimed at driving an automated vehicle to a safe parking lane under perceptive sensor malfunction.Design/methodology/approach–Owing to an undetected area resulting from a front sensor malfunction,the proposed ADSfirst creates virtual vehicles to replace existing vehicles in the undetected area.Afterward,the virtual vehicles are assumed to perform the most hazardous driving behavior toward the host vehicle;an adaptive model predictive control algorithm is then presented to optimize the control task during the fallback procedure,avoiding potential collisions with surrounding vehicles.This fallback approach was tested in typical cases related to car-following and lane changes.Findings–It is confirmed that the host vehicle avoid collision with the surrounding vehicles during the fallback procedure,revealing that the proposed method is effective for the test scenarios.Originality/value–This study presents a model for the path-planning problem regarding an automated vehicle under perceptive sensor failure,and it proposes an original path-planning approach based on virtual vehicle scheme to improve the safety of an automated vehicle during a fallback procedure.This proposal gives a different view on the fallback safety problem from the normal strategy,in which the mode is switched to manual if a driver is available or the vehicle is instantly stopped.
文摘A new transportation technology known as personal rapid transit （PRT） is being developed by multiple different companies around the world, and one system is under commercial operations in the United Kingdom. Each design is different, but they all share a need to operate many automated transit vehicles at very close headways. Safe operation will require a level of control an order of magnitude above any current transit system. As a result, new techniques will be needed for the development and testing of the mechanical and control systems. In this paper an apparatus for developing and testing a PRT vehicle control scheme is demonstrated. This system is composed of independent modules that represent virtual vehicles, a central control system, a man-machine interface and a monitoring device. It can be used to implement and to evaluate the designed vehicle control algorithm. The vehicle control algorithm is designed and simulated in a combined simulation platform that consists of Matlab/Simulink and Labview Simulation Interface Toolkit. Simple operational scenarios are proposed for the testing of the proposed vehicle control apparatus.
基金This work is supported by the National Science and Technology Major Project of China(No.2016ZX03001025-003)Special Fund for Beijing Common Construction Project.
文摘In recent years,IoV(Internet of Vehicles)has become one of the most active research elds in network and intelligent transportation system.As an open converged network,IoV plays an important role in solving various driving and traffc problems by advanced information and communications technology.We review the existing notions of IoV from di erent perspectives.Then,we provide our notion from a network point of view and propose a novel IoV architecture with four layers.Particularly,a novel layer named coordinative computing control layer is separated from the application layer.The novel layer is used for solving the coordinative computing and control problems for human-vehicle-environment.After summarizing the key technologies in IoV architecture,we construct a VV(Virtual Vehicle),which is an integrated image of driver and vehicle in networks.VVs can interact with each other in cyber space by providing traffc service and sharing sensing data coordinately,which can solve the communication bottleneck in physical space.Finally,an extended IoV architecture based on VVs is proposed.
