New fuzzy solution for determining anticipation and evaluation behavior during car-following maneuvers

Abstract

Nowadays, vehicles are the most important means of transportation in our daily lifes. During the last few decades, many studies have been carried out in the field of intelligent vehicles and significant results on the behavior of car-following and lane-change maneuvers have been achieved. However, the effects of lane-change on the car-following models have been relatively neglected. This effect is a temporary state in car-following behavior during which the follower vehicle considerably deviates from conventional car-following models for a limited time. This paper aims to investigate the behavior of the immediate follower during the lane-change of its leader vehicle. Based on a closer inspection of the microstructure behavior of real drivers, this temporary state is divided into two stages of anticipation and evaluation. Afterwards, a novel and adaptive neuro-fuzzy model that considers human driving factors is proposed to simulate the behavior of real drivers. Comparison between model results and real traffic data reveals that the proposed model can describe anticipation and evaluation behavior with smaller errors. The anticipation and evaluation model can modify current car-following models so as to accurately simulate the behavior of an immediate follower which leads to an enhancement of carfollowing applications such as driving assistance and collision avoidance systems.

Adaptive neural network output-feedback control of multiple Ackermann steering vehicles formation including motor dynamics with a guaranteed performance

“…The coordinated control of multiple robotic agents has attracted a lot of attention among robotic researchers and engineers due to its effective applications of vehicles teamwork in the autonomous exploration, automotive industries, intelligent transportation systems, surveillance, coverage, reconnaissance, rescue operations, and so on over recent years. 1–21 The formation control problem is related to the design of stabilizing, tracking, or path-following controllers to make a team of robots preserve or track desired postures with respect to one or more reference robots. From a literature review, there exist many research works on the formation control of robots by either behavior-based, 1 virtual structure, 2,3 or leader-following approaches.…”

“…Since car-like robots are underactuated nonlinear systems, that is, their degrees of freedom is smaller than the number of the actuators, and they also suffer from the nonholonomic constraints; the design of formation tracking controllers is a very challenging task. 1–17 From a review of the literature, 1–21 the leader-following is one of the most popular methods in the formation construction because of its reliability, scalability, and simplicity. In this approach, all the followers try to preserve their desired relative angle and distance with respect to some pre-assigned leader.…”

“…In the recent works, a variety of robots formations are addressed. 4–20 For example, a fixed-time formation controller has been addressed for multiple mobile robots in Wang et al 6 Sun et al 7 have proposed a robust distributed algorithm based on an iterative learning control for the formation of a group of differential-drive mobile robots. The leader-following formation control problem of nonholonomic robots without the needs for the full-state of the leader has been addressed in Miao et al 8 A novel distributed predictive controller has been proposed in Hosseinzadeh Yamchi and Mahboobi Esfanjani 9 for the mobile robots formation with any collision.…”

“…However, all the previous works in the literature 1–17 address the different aspects of the formation control problem of differentially driven wheeled mobile robots 1–17 which are not applicable to automobiles and car-like robots. In spite of various theoretical results on the formation and cooperative control of multiple mobile robots, available papers in the literature 1–26 have at least one of the following shortfalls: (1) almost all the papers in the literature focus on the coordinated control of multiple differential-drive robots. Except a few elementary results in previous studies, 18–21 the literature is still sparse on the control of multiple Ackermann steering robots formation which is the main topic of this paper; (2) the cooperati...…”

Integrated ramp metering and lane-changing feedback control at motorway bottlenecks

“…In the last decades, a significant and increasing interdisciplinary effort by the automotive industry, as well as by numerous research institutions around the world, has been devoted to planning, developing, testing, and deploying new technologies that are expected to revolutionise the features and capabilities of individual vehicles in the future [1]. Among the wide range of available systems, few may actually have a direct impact on traffic flow, while the majority of them aims at primarily improving safety or driver's convenience ([2], [3], [4]). In the context of automated and connected vehicles or Automated Highway Systems, only a limited number of works have considered to optimize lane distribution ( [5], [6], [7], [8], [9], [10]).…”