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

在可预见的未来，人类驾驶汽车（HDVs）和所有级别的自动驾驶汽车（AVs） （Level 1-5, AVs1-5）可能会共享高速公路。车辆自主异质性和多样性的增加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。这可能会加剧本已日益增长和令人担忧的国家对交通安全的关注。该项目旨在通过引入一种新的CPS范式，将高速公路车辆与异质、变化和混合的人/机器自主性和谐、安全地集成在一起，从而推进自主、安全和运输等信息物理系统（CPS）研究领域的最新进展。通过合作研究，该项目可为提高异构车辆的公路行驶安全性创造新的方法和工具。这项工作的成果也可以扩展到推进制造、仓储和医疗保健应用中的其他CPS，在这些应用中，人类和异构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，增强AVs1-5系统，使车辆在公路交通中安全、和谐地融合，从而解决与高速公路运输中异构自主车辆相关的新挑战。研究团队将采用跨学科的研究方法，了解其他hdv和AVs1-5的驾驶行为，评估个体感知安全性，实现高速公路交通场景下的合作、分散行为协调和可验证的安全控制。将进行人在环驾驶仿真实验和规模化车辆交通系统实验，对所开发的方法进行调查和评估。教育活动，如课程开发和研究生/本科生的研究参与将进行。还将进行研究传播和K-12外展活动，以进一步增加研究的更广泛影响。该奖项反映了美国国家科学基金会的法定使命，并通过使用基金会的知识价值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.