CPS Medium: Cooperative Driving in Heterogeneous Traffic of Manned and Unmanned Vehicles

CPS Medium：有人与无人驾驶车辆异构交通中的协同驾驶

• 批准号: 2212582
• 负责人: Weihua Sheng
• 金额: $ 80万
• 依托单位: Oklahoma State University
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2022
• 资助国家: 美国
• 起止时间: 2022-10-01 至 2025-09-30
• 项目状态: 未结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=2212582&HistoricalAwards=false
• 关键词: CPS; Medium; Cooperative; Driving; Heterogeneous

This Cyber Physical Systems (CPS) project will develop a theoretical framework that facilitates safe cooperative driving in heterogeneous traffic of human-operated and autonomously-operated vehicles and demonstrate its feasibility through both simulation and physical experiments. This project will help improve the safety of a transportation system currently being transformed by vehicles with growing autonomous features. By introducing an add-on device, or copilot, into legacy human-driven vehicles, this project will offer a smart driving assistant that is aware of the driver's behaviors and can alert the driver when the vehicle is at risk. When engaged in cooperative driving, the copilot will provide advice that reduces the chance of collision with nearby vehicles. By facilitating cooperative driving for both emerging autonomous vehicles and legacy human-driven vehicles, this project will foster a positive attitude of the public toward autonomous driving, therefore accelerating the adoption of autonomous vehicles into the transportation system. The education and outreach activities will raise more awareness of autonomous driving, Artificial Intelligence (AI) and robotics to the younger generation, and stimulate prospective students to pursue degrees and careers in science and engineering. This research explores the challenging problem of cooperative control of a cyber-physical-human system consisting of both human-operated and autonomously-operated vehicles. First, by leveraging machine learning technologies, this research will develop an integrated data-driven, model-based approach to modeling vehicle driving behaviors with various levels of human and machine control. New machine learning models of human driving behaviors in the presence and absence of copilot's advice will be built, which fuse both external risks and driver's behavior to infer vehicle's intended maneuvers through a novel vehicle reaction model. Second, this research will develop a unified decision framework for cooperative driving that leverages the differences between humans and machines in sensing, analytics, and control to produce real-time advice to autonomous vehicles and drivers for enhanced safety. Such a framework can be extended to other classes of networked cyber-physical-human systems, where intelligent advice to human operators can facilitate collaboration and enhance system level performance and safety. Third, this research will develop both simulated and physical testbeds for experimental evaluation of the theoretical framework. Finally, this research will expand the existing Cooperative Automation Research Mobility Applications platform to both autonomous vehicles and legacy vehicles, which will allow researchers to study new problems in future intelligent transportation systems that involve both humans and machines.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

这个网络物理系统（CPS）项目将开发一个理论框架，促进在人类操作和非人类操作的车辆的异构交通中的安全合作驾驶，并通过模拟和物理实验证明其可行性。 该项目将有助于提高交通系统的安全性，该系统目前正被自动驾驶功能不断增长的车辆所改造。通过在传统的人类驾驶车辆中引入附加设备或副驾驶员，该项目将提供一个智能驾驶助手，该助手可以了解驾驶员的行为，并在车辆处于危险时提醒驾驶员。当参与合作驾驶时，副驾驶员将提供建议，以减少与附近车辆碰撞的机会。通过促进新兴自动驾驶汽车和传统人类驾驶汽车的合作驾驶，该项目将培养公众对自动驾驶的积极态度，从而加速自动驾驶汽车在交通系统中的采用。教育和推广活动将提高年轻一代对自动驾驶，人工智能（AI）和机器人技术的认识，并刺激未来的学生攻读科学和工程学位和职业。 本研究探讨了具有挑战性的问题，协调控制的信息-物理-人系统，包括人力操作和非人力操作的车辆。首先，通过利用机器学习技术，本研究将开发一种集成的数据驱动的，基于模型的方法来建模车辆驾驶行为与各种水平的人类和机器控制。将建立在有和没有副驾驶员建议的情况下人类驾驶行为的新机器学习模型，该模型将外部风险和驾驶员的行为融合在一起，通过一种新的车辆反应模型来推断车辆的预期操纵。 其次，这项研究将为合作驾驶开发一个统一的决策框架，利用人类和机器在感知、分析和控制方面的差异，为自动驾驶汽车和驾驶员提供实时建议，以提高安全性。这样的框架可以扩展到其他类别的网络化网络物理人类系统，其中对人类操作员的智能建议可以促进协作并增强系统级性能和安全性。第三，本研究将开发模拟和物理实验平台，用于理论框架的实验评估。最后，这项研究将把现有的合作自动化研究移动应用平台扩展到自动驾驶汽车和传统汽车，这将使研究人员能够研究涉及人类和机器的未来智能交通系统中的新问题。该奖项反映了NSF的法定使命，并通过使用基金会的智力价值和更广泛的影响审查标准进行评估，被认为值得支持。

项目成果

Cooperative Driving between Autonomous Vehicles and Human-driven Vehicles Considering Stochastic Human Input and System Delay

考虑随机人力输入和系统延迟的自动驾驶车辆与人类驾驶车辆的协同驾驶

• 发表时间: 2023
• 期刊: European Control Conference
• 作者: Hossain, Sanzida;Lu, Jiaxing;Bai, He;Sheng, Weihua
• 通讯作者: Sheng, Weihua

Stochastic Model Predictive Control for Coordination of Autonomous and Human-driven Vehicles

自动驾驶和人类驾驶车辆协调的随机模型预测控制

• DOI: 10.1016/j.ifacol.2023.01.117
• 发表时间: 2022
• 期刊: IFAC-PapersOnLine
• 作者: Hossain, Sanzida;Lu, Jiaxing;Bai, He;Sheng, Weihua
• 通讯作者: Sheng, Weihua

Parameterized input inference for approximate stochastic optimal control

近似随机最优控制的参数化输入推理

• DOI: 10.23919/acc55779.2023.10155809
• 发表时间: 2023
• 期刊: Proceedings of the American Control Conference
• 作者: Syed, Shahbaz P;Bai, He
• 通讯作者: Bai, He

Development of a Research Testbed for Cooperative Driving in Mixed Traffic of Human-driven and Autonomous Vehicles

• DOI: 10.1109/iros47612.2022.9981436
• 发表时间: 2022-10
• 期刊: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
• 作者: Jiaxing Lu;Ryan Stracener;W. Sheng;H. Bai;Sanzida Hossain

Cooperative Driving in Mixed Traffic of Manned and Unmanned Vehicles based on Human Driving Behavior Understanding

• DOI: 10.1109/icra48891.2023.10160282
• 发表时间: 2023-05
• 期刊: 2023 IEEE International Conference on Robotics and Automation (ICRA)
• 作者: Jiaxing Lu;Sanzida Hossain;W. Sheng;H. Bai