Collaborative Research: CPS: Medium: Harmonious and Safe Coordination of Vehicles with Diverse Human / Machine Autonomy

在漫长和可预见的未来，各级(1-5级、1-5级)的人驾驶车辆(HDV)和自动车辆(AV)可能共享高速公路。日益增长的车辆自主性、异质性和多样性可能会危及混合自主车辆在高速公路上的安全和谐互动，并对所有车辆的安全构成威胁。这可能会加剧本已增长且令人担忧的国家对交通安全的担忧。该项目旨在通过引入一种新的CPS范式来推动自主、安全和交通等网络物理系统(CPS)研究领域的最新发展，CPS范式是将不同类型、不同类型和混合的人/机自治的公路车辆和谐而安全地集成在一起。通过合作研究，该项目可能会创造新的方法和工具来增强异种车辆的高速公路驾驶安全。这项工作的成果还可以推广到制造、仓储和医疗保健应用中的其他CP，在这些应用中，人类和异类自主机器人之间的交互无处不在，它们之间的安全协调至关重要。该项目旨在通过创建一个通用框架来增强AVs1-5系统，以实现车辆在公路交通中的安全和谐集成，从而解决与公路运输中异种自主性车辆相关的新挑战。研究团队将使用跨学科的研究方法来了解驾驶行为，评估其他HDV和AV1-5的个人感知安全，以及在高速公路交通场景中实现合作、分散的行为协调和可验证的安全控制。将进行人在环驾驶模拟实验和车辆-交通系统规模实验，以调查和评估所开发的方法。将开展课程开发和研究生/本科生参与研究等教育活动。研究传播和K-12外展活动也将继续进行，以进一步扩大研究的更广泛影响。这一奖项反映了NSF的法定使命，并通过使用基金会的智力优势和更广泛的影响审查标准进行评估，被认为值得支持。

Human-driven vehicles (HDVs) and automated vehicles (AVs) of all levels (Level 1-5, AVs1-5) may share the highways in the long and foreseeable future. The increasing vehicle autonomy heterogeneity and diversity may jeopardize the safe and harmonious interaction among such vehicles with mixed autonomy on highways and pose a threat to the safety of all vehicles. This may exacerbate an already growing and alarming national concern on traffic safety. This project aims to advance the state of the art in the Cyber-Physical Systems (CPS) research areas of Autonomy, Safety, and Transportation by ushering in a new CPS paradigm of harmonious and safe integration of highway vehicles with heterogeneous, varying, and mixed human / machine autonomy. Through collaborative research, the project may create new methods and tools to enhance the highway driving safety of heterogeneous vehicles. The outcomes of this work may also be extended to advance other CPS in manufacturing, warehousing, and healthcare applications where interaction among humans and heterogeneous autonomous robots is pervasive and safe coordination among them is critical.The project seeks to address the emerging challenges associated with vehicles of heterogeneous autonomy in highway transportation by creating a universal framework that can augment AVs1-5 systems to enable safe and harmonious integration of vehicles in highway traffic. The research team will use an interdisciplinary research approach to understand driving behaviors and assess individual perceived safety of other HDVs and AVs1-5, as well as to achieve cooperative, decentralized behavioral coordination and verifiably safe control in highway traffic scenarios. Human-in-the-loop driving simulation experiments and scaled vehicle-traffic system experiments will be conducted to investigate and evaluate the developed methods. Educational activities such as curriculum development and graduate/undergraduate student research participation will be conducted. Research dissemination and K-12 outreach activities will also be pursued to further increase the broader impact of the research.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.