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IF 8.2 1区工程技术

IEEE Transactions on Intelligent Vehicles Pub Date : 2024-03-01 DOI: 10.1109/TIV.2024.3394801

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IEEE Transactions on Intelligent Vehicles Publication Information 电气和电子工程师学会智能车辆论文集》出版信息

IF 14 1区工程技术

IEEE Transactions on Intelligent Vehicles Pub Date : 2024-03-01 DOI: 10.1109/TIV.2024.3414553

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Sora for Intelligent Vehicles: A Step From Constraint-Based Simulation to Artificiofactual Experiments Through Dynamic Visualization 用于智能车辆的 Sora：通过动态可视化，从基于约束条件的仿真迈向人工智能实验

IF 8.2 1区工程技术

IEEE Transactions on Intelligent Vehicles Pub Date : 2024-03-01 DOI: 10.1109/TIV.2024.3384550

Xumeng Wang;Xiao Xue;Ran Yan;Xingxia Wang;Yining Di;Wei Chen;Fei-Yue Wang

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The Transactions on Intelligent Vehicles Information 智能车辆信息论文集

IF 8.2 1区工程技术

IEEE Transactions on Intelligent Vehicles Pub Date : 2024-03-01 DOI: 10.1109/TIV.2024.3391181

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Reservation-Prioritization-Based Mixed-Traffic Cooperative Control at Unsignalized Intersections 无信号交叉口基于预约优先的混合交通协同控制

IF 14 1区工程技术

IEEE Transactions on Intelligent Vehicles Pub Date : 2024-02-28 DOI: 10.1109/TIV.2024.3370913

Wenqin Zhong;Keqiang Li;Jia Shi;Jie Yu;Yugong Luo

{"title":"Reservation-Prioritization-Based Mixed-Traffic Cooperative Control at Unsignalized Intersections","authors":"Wenqin Zhong;Keqiang Li;Jia Shi;Jie Yu;Yugong Luo","doi":"10.1109/TIV.2024.3370913","DOIUrl":"https://doi.org/10.1109/TIV.2024.3370913","url":null,"abstract":"Connected and Autonomous Vehicle (CAV) has attracted much attention as it provides promising solutions to improve traffic performance in many scenarios, especially unsignalized intersections. However, as for unsignalized intersections where both CAV and Human-driven Vehicle (HDV) exist, to reduce the impact of HDV uncertain behaviors, existing related research tend to simplify the scenario or HDV behavior characteristics at unsignalized intersections, or ensuring passing safety without collaborative decision-making on traffic efficiency optimizations. To address these problems, this paper presents a method of reservation-prioritization-based mixed-traffic cooperative control at unsignalized intersections. Firstly, reservation rights of CAVs are prioritized by solving minimization problems, to optimize the reservation order of CAV on the behalf of traffic efficiency. Secondly, a reservation and speed planning mechanism considering HDV behaviors is designed, which develops and re-decides CAV's reservation result based on HDV free-driving behavior, and plans speed for CAVs based on their reservation results by solving constrained nonlinear programming problems. The proposed method is evaluated under different traffic volumes and CAV penetration rates on SUMO platform. Results show that the proposed reservation-prioritization-based method gains higher intersection throughput and averaged velocity under all scenarios, including a maximum throughput improvement rate of 17.77% and a maximum averaged velocity improvement rate of 66.37% compared with the comparative methods.","PeriodicalId":36532,"journal":{"name":"IEEE Transactions on Intelligent Vehicles","volume":"9 5","pages":"4917-4930"},"PeriodicalIF":14.0,"publicationDate":"2024-02-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141964747","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

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Integrated Path-Tracking and Combined-Slip Force Controls of Autonomous Ground Vehicles With Safe Constraints Adaptation 具有安全约束适应性的自主地面飞行器的综合路径跟踪和组合滑力控制

IF 8.2 1区工程技术

IEEE Transactions on Intelligent Vehicles Pub Date : 2024-02-26 DOI: 10.1109/TIV.2024.3367815

Ehsan Hashemi;Amir Khajepour

{"title":"Integrated Path-Tracking and Combined-Slip Force Controls of Autonomous Ground Vehicles With Safe Constraints Adaptation","authors":"Ehsan Hashemi;Amir Khajepour","doi":"10.1109/TIV.2024.3367815","DOIUrl":"https://doi.org/10.1109/TIV.2024.3367815","url":null,"abstract":"A novel integrated stabilization and path tracking control framework, which includes the combined-slip effect, wheel dynamics, and tire force capacities, is developed for autonomous ground vehicles. The loss of cornering forces caused by increased longitudinal slip are considered in the prediction model of the developed receding horizon controls. Robustness to uncertainties in the road surface friction is addressed by an adaptive constraint scheme on the side handling-limit boundaries in order to provide a reliable stable performance. The integrated framework with constraint adaptation resolves possible conflicts of the multi-actuated system for lateral stabilization, while trajectory tracking on various surface conditions. The performance of the proposed approach, in terms of accuracy and computational efficiency, is evaluated by using hardware-in-the-loop real-time experiments and a high-fidelity CarSim model in various pure- and combined-slip maneuvers, under different road friction conditions. The real-time experiments confirm effectiveness and reliable performance of the proposed approach over existing algorithms, in dealing with reduced tire capacities in harsh obstacle avoidance and cornering scenarios, while path following, as a consequence of constraint adaptation and simultaneous vehicle-wheel stabilization.","PeriodicalId":36532,"journal":{"name":"IEEE Transactions on Intelligent Vehicles","volume":"9 3","pages":"4265-4274"},"PeriodicalIF":8.2,"publicationDate":"2024-02-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140820214","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Uncertainty-Aware Decision Making and Planning for ICV Based on Asymmetric Driving Aggressiveness 基于非对称驾驶攻击性的 ICV 不确定性感知决策与规划

IF 8.2 1区工程技术

IEEE Transactions on Intelligent Vehicles Pub Date : 2024-02-23 DOI: 10.1109/TIV.2024.3369324

Wen Hu;Cong Wang;Zejian Deng;Yanding Yang;Yang Wu;Kai Cao;Bangji Zhang;Dongpu Cao

{"title":"Uncertainty-Aware Decision Making and Planning for ICV Based on Asymmetric Driving Aggressiveness","authors":"Wen Hu;Cong Wang;Zejian Deng;Yanding Yang;Yang Wu;Kai Cao;Bangji Zhang;Dongpu Cao","doi":"10.1109/TIV.2024.3369324","DOIUrl":"https://doi.org/10.1109/TIV.2024.3369324","url":null,"abstract":"Precisely assessing driving threat of road segments could significantly enhance the driving efficiency of intelligent connected vehicles (ICV) within mixed traffic scenarios. Existing methods primarily concentrate on collision probabilities, resulting in an insufficient appraisal of asymmetrical hazard levels attributed to the various interactions. Meanwhile, the uncertainty and communication delay have great influence on ICV, and it is an issue that must be addressed when designing decision-making and planning model. Thus, this study proposes and formulates a new driving aggressiveness model after analyzing asymmetric interactions behaviors among vehicles with different types. Subsequently, aims to verify the capability of generating asymmetric interaction, the driving aggressiveness model is applied on lane-change decision-making and planning. Concretely, the aggressiveness-sensitive lanes-selection model is designed based on game theory, and the uncertainty-aware trajectory planning is developed by utilizing stochastic model predictive control (MPC) and the asymmetric driving aggressiveness. Finally, two naturalistic driving scenarios are utilized to verify the performance of the decision-making and planning model. The outcomes of simulations illustrate that the driving aggressiveness model introduces a novel perspective to assess the asymmetric driving threat. Meanwhile, the uncertainty-aware decision making and planning model can reduce the influence on interactive vehicles, and it has superior adaptability for dynamic and connected traffic environments.","PeriodicalId":36532,"journal":{"name":"IEEE Transactions on Intelligent Vehicles","volume":"9 3","pages":"4432-4444"},"PeriodicalIF":8.2,"publicationDate":"2024-02-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140820326","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

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Parallel Management of IoV Information Enabled by Blockchain and Decentralized Autonomous Organizations 通过区块链和去中心化自治组织实现 IoV 信息的并行管理

IF 8.2 1区工程技术

IEEE Transactions on Intelligent Vehicles Pub Date : 2024-02-22 DOI: 10.1109/TIV.2024.3368510

Shuangshuang Han;Yongqiang Bai;Tianrui Zhang;Yueyun Chen;Chintha Tellambura

{"title":"Parallel Management of IoV Information Enabled by Blockchain and Decentralized Autonomous Organizations","authors":"Shuangshuang Han;Yongqiang Bai;Tianrui Zhang;Yueyun Chen;Chintha Tellambura","doi":"10.1109/TIV.2024.3368510","DOIUrl":"https://doi.org/10.1109/TIV.2024.3368510","url":null,"abstract":"With the development of intelligent transportation technologies, the Internet of Vehicles (IoV) faces challenges such as data silos, security and privacy concerns, data quality issues, and collaboration barriers. To address the various challenges, this paper proposes an innovative integration scheme called the IoV Data Management System (IDMS). This system is built upon blockchain and parallel intelligence technologies, aiming to solve the challenges presented in the IoV domain. The proposed system uses the decentralized, immutable and traceable characteristics of blockchain, combined with the incentive mechanism and collaboration model of decentralized autonomous organization (DAO), to build a secure and trusted data sharing platform to solve data problems in IoV. This research combines parallel intelligence, blockchain and DAO technologies to provide an innovative framework for IoV information management. The proposed framework enables parallel management of connected vehicle systems, thereby improving safety, reliability and efficiency. Furthermore, it would promote the development and application of vehicle networking technology, and provide more intelligent, convenient and safe services for people's travel experience. Finally, a parking data sharing case study validates the effectiveness of the designed system and demonstrates its potential to solve IoV data management challenges.","PeriodicalId":36532,"journal":{"name":"IEEE Transactions on Intelligent Vehicles","volume":"9 4","pages":"4759-4768"},"PeriodicalIF":8.2,"publicationDate":"2024-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141315149","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Smart Mobility Digital Twin Based Automated Vehicle Navigation System: A Proof of Concept 基于数字双胞胎的智能交通自动车辆导航系统：概念验证

IF 8.2 1区工程技术

IEEE Transactions on Intelligent Vehicles Pub Date : 2024-02-21 DOI: 10.1109/TIV.2024.3368109

Kui Wang;Zongdian Li;Kazuma Nonomura;Tao Yu;Kei Sakaguchi;Omar Hashash;Walid Saad

{"title":"Smart Mobility Digital Twin Based Automated Vehicle Navigation System: A Proof of Concept","authors":"Kui Wang;Zongdian Li;Kazuma Nonomura;Tao Yu;Kei Sakaguchi;Omar Hashash;Walid Saad","doi":"10.1109/TIV.2024.3368109","DOIUrl":"10.1109/TIV.2024.3368109","url":null,"abstract":"Digital twins (DTs) have driven major advancements across various industrial domains over the past two decades. With the rapid advancements in autonomous driving and vehicle-to-everything (V2X) technologies, integrating DTs into vehicular platforms is anticipated to further revolutionize smart mobility systems. In this paper, a new smart mobility DT (SMDT) platform is proposed for the control of connected and automated vehicles (CAVs) over next-generation wireless networks. In particular, the proposed platform enables cloud services to leverage the abilities of DTs to promote the autonomous driving experience. To enhance traffic efficiency and road safety measures, a novel navigation system that exploits available DT information is designed. The SMDT platform and navigation system are implemented with state-of-the-art products, e.g., CAVs and roadside units (RSUs), and emerging technologies, e.g., cloud and cellular V2X (C-V2X). In addition, proof-of-concept (PoC) experiments are conducted to validate system performance. The performance of SMDT is evaluated from two standpoints: (i) the rewards of the proposed navigation system on traffic efficiency and safety and, (ii) the latency and reliability of the SMDT platform. Our experimental results using SUMO-based large-scale traffic simulations show that the proposed SMDT can reduce the average travel time and the blocking probability due to unexpected traffic incidents. Furthermore, the results record a peak overall latency for DT modeling and route planning services to be 155.15 ms and 810.59 ms, respectively, which validates that our proposed design aligns with the 3GPP requirements for emerging V2X use cases and fulfills the targets of the proposed design.","PeriodicalId":36532,"journal":{"name":"IEEE Transactions on Intelligent Vehicles","volume":"9 3","pages":"4348-4361"},"PeriodicalIF":8.2,"publicationDate":"2024-02-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10443037","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140447458","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Pre-Stability Control for In-Wheel-Motor-Driven Electric Vehicles With Dynamic State Prediction 具有动态状态预测功能的轮内电机驱动电动汽车预稳定控制系统

IF 8.2 1区工程技术

IEEE Transactions on Intelligent Vehicles Pub Date : 2024-02-21 DOI: 10.1109/TIV.2024.3368207

Mengjie Tian;Qixiang Zhang;Duanyang Tian;Liqiang Jin;Jianhua Li;Feng Xiao

{"title":"Pre-Stability Control for In-Wheel-Motor-Driven Electric Vehicles With Dynamic State Prediction","authors":"Mengjie Tian;Qixiang Zhang;Duanyang Tian;Liqiang Jin;Jianhua Li;Feng Xiao","doi":"10.1109/TIV.2024.3368207","DOIUrl":"https://doi.org/10.1109/TIV.2024.3368207","url":null,"abstract":"In-wheel-motor-driven electric vehicles (IWM-EVs) provide more potential to enhance vehicle stability performance. However, traditional stability control relies on the current status fed back by sensors for stability judgment and control, only taking effect after the vehicle has already become unstable. In response to this issue, this paper proposes a pre-stability control strategy based on a hybrid dynamic state prediction method to predict dangerous driving conditions and intervene in vehicle stability control in advance. First, a driver-vehicle model is established to characterize the driver's driving intention and obtain the vehicle's ideal motion responses. Then, the methodology for implementing vehicle pre-stability control is introduced, which mainly includes sideslip angle estimation utilizing the extended Kalman filter, a hybrid dynamic state prediction approach based on vehicle model and data trends, and a vehicle pre-stability judgment method. Subsequently, a vehicle hierarchical controller is designed to achieve pre-stability control. The upper-level controller focuses on calculating the required additional yaw moment, and the lower-level controller aims to optimize torque distribution among the four wheels. Finally, the proposed pre-stability control strategy is validated by the hardware-in-the-loop test bench. The results show that the proposed control strategy can intervene in dangerous driving conditions in advance, and its mean errors of the yaw rate and sideslip angle are reduced by over 17.1% and 23.5%, respectively, compared with the traditional method, which significantly enhances vehicle stability and driving safety.","PeriodicalId":36532,"journal":{"name":"IEEE Transactions on Intelligent Vehicles","volume":"9 3","pages":"4541-4554"},"PeriodicalIF":8.2,"publicationDate":"2024-02-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140820276","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0