서브메뉴
검색
On the Safe Motion of Connected Automated Vehicles: Dynamics, Planning and Controls
On the Safe Motion of Connected Automated Vehicles: Dynamics, Planning and Controls
상세정보
- 자료유형
- 학위논문 서양
- 최종처리일시
- 20250211153011
- ISBN
- 9798384044833
- DDC
- 621
- 저자명
- Oh, Sanghoon.
- 서명/저자
- On the Safe Motion of Connected Automated Vehicles: Dynamics, Planning and Controls
- 발행사항
- [Sl] : University of Michigan, 2024
- 발행사항
- Ann Arbor : ProQuest Dissertations & Theses, 2024
- 형태사항
- 144 p
- 주기사항
- Source: Dissertations Abstracts International, Volume: 86-03, Section: A.
- 주기사항
- Advisor: Orosz, Gabor.
- 학위논문주기
- Thesis (Ph.D.)--University of Michigan, 2024.
- 초록/해제
- 요약The safety of a connected automated vehicle's (CAV's) motion has two necessary conditions: stability of the trajectory and conflict avoidance to other road participants. Different challenges arise when designing a motion planning and control system to achieve the conditions, such as unstable vehicle states, mismatches between planned and tracked movements and planning difficulties in complex environments. Recent advancements in trajectory planning and control design are often limited to specific driving scenarios or subsystems, hindering scalability. Implementing a hierarchical structure and feedback design for decision-making, planning, and control systems, with a better understanding of subsystem interactions, can help address this issue. Along with the systematic solution, vehicle-to-everything (V2X) connectivity offers a cost-effective way to enhance situational awareness and provide beyond-the-line-of-sight information, opening up endless possibilities for use cases. Three challenges for achieving the overarching goal of generating safe motion of CAVs are considered: a) Appropriate modeling of CAV dynamics at diverse operating conditions, b) Smooth motion planning compatible with V2X connectivity, and c) Verifiable safety of the CAV's motion in complex urban scenarios. To tackle the first challenge, high-fidelity single-track models were developed to describe automated vehicles' lateral and yaw motion. Bifurcation analysis of the models can lead to a knowledgeable selection of the proper model used for both motion planner and controller. For smooth motion planning, a three-clothoid-based motion planner is proposed and has features including tunability, a fast feasibility check, encodability, and interpretability. The constant space complexity of the abstraction of the plan while keeping the smoothness makes it possible to encode the plan to a V2X message and can be potentially used for conflict resolution of multiple CAVs. For the last challenge regarding the safety verification of CAVs' motion, a signalized intersection with a mixed traffic scenario is considered. Hamilton-Jacobi reachability (HJ reachability) method can be used for both decision-making and control and provides a provable guarantee of safety under the uncertainty of connected human driver's (CHV's) motion. A decomposition method for reachability computation is applicable for the extension of the intersection problem to multiple lanes. A theoretical extension of HJ reachability to systems with input delay can be formulated as a sequential differential game format and corresponding solvable Hamilton-Jacobi-Bellman equations are derived.
- 일반주제명
- Mechanical engineering
- 일반주제명
- Engineering
- 일반주제명
- Transportation
- 키워드
- Vehicle dynamics
- 키워드
- Motion planning
- 키워드
- Urban scenarios
- 키워드
- Decision-making
- 기타저자
- University of Michigan Mechanical Engineering
- 기본자료저록
- Dissertations Abstracts International. 86-03A.
- 전자적 위치 및 접속
- 로그인 후 원문을 볼 수 있습니다.
MARC
008250123s2024 us c eng d■001000017164511
■00520250211153011
■006m o d
■007cr#unu||||||||
■020 ▼a9798384044833
■035 ▼a(MiAaPQ)AAI31631459
■035 ▼a(MiAaPQ)umichrackham005783
■040 ▼aMiAaPQ▼cMiAaPQ
■0820 ▼a621
■1001 ▼aOh, Sanghoon.
■24510▼aOn the Safe Motion of Connected Automated Vehicles: Dynamics, Planning and Controls
■260 ▼a[Sl]▼bUniversity of Michigan▼c2024
■260 1▼aAnn Arbor▼bProQuest Dissertations & Theses▼c2024
■300 ▼a144 p
■500 ▼aSource: Dissertations Abstracts International, Volume: 86-03, Section: A.
■500 ▼aAdvisor: Orosz, Gabor.
■5021 ▼aThesis (Ph.D.)--University of Michigan, 2024.
■520 ▼aThe safety of a connected automated vehicle's (CAV's) motion has two necessary conditions: stability of the trajectory and conflict avoidance to other road participants. Different challenges arise when designing a motion planning and control system to achieve the conditions, such as unstable vehicle states, mismatches between planned and tracked movements and planning difficulties in complex environments. Recent advancements in trajectory planning and control design are often limited to specific driving scenarios or subsystems, hindering scalability. Implementing a hierarchical structure and feedback design for decision-making, planning, and control systems, with a better understanding of subsystem interactions, can help address this issue. Along with the systematic solution, vehicle-to-everything (V2X) connectivity offers a cost-effective way to enhance situational awareness and provide beyond-the-line-of-sight information, opening up endless possibilities for use cases. Three challenges for achieving the overarching goal of generating safe motion of CAVs are considered: a) Appropriate modeling of CAV dynamics at diverse operating conditions, b) Smooth motion planning compatible with V2X connectivity, and c) Verifiable safety of the CAV's motion in complex urban scenarios. To tackle the first challenge, high-fidelity single-track models were developed to describe automated vehicles' lateral and yaw motion. Bifurcation analysis of the models can lead to a knowledgeable selection of the proper model used for both motion planner and controller. For smooth motion planning, a three-clothoid-based motion planner is proposed and has features including tunability, a fast feasibility check, encodability, and interpretability. The constant space complexity of the abstraction of the plan while keeping the smoothness makes it possible to encode the plan to a V2X message and can be potentially used for conflict resolution of multiple CAVs. For the last challenge regarding the safety verification of CAVs' motion, a signalized intersection with a mixed traffic scenario is considered. Hamilton-Jacobi reachability (HJ reachability) method can be used for both decision-making and control and provides a provable guarantee of safety under the uncertainty of connected human driver's (CHV's) motion. A decomposition method for reachability computation is applicable for the extension of the intersection problem to multiple lanes. A theoretical extension of HJ reachability to systems with input delay can be formulated as a sequential differential game format and corresponding solvable Hamilton-Jacobi-Bellman equations are derived.
■590 ▼aSchool code: 0127.
■650 4▼aMechanical engineering
■650 4▼aEngineering
■650 4▼aTransportation
■653 ▼aConnected automated vehicle
■653 ▼aVehicle dynamics
■653 ▼aMotion planning
■653 ▼aUrban scenarios
■653 ▼aDecision-making
■690 ▼a0548
■690 ▼a0537
■690 ▼a0709
■71020▼aUniversity of Michigan▼bMechanical Engineering.
■7730 ▼tDissertations Abstracts International▼g86-03A.
■790 ▼a0127
■791 ▼aPh.D.
■792 ▼a2024
■793 ▼aEnglish
■85640▼uhttp://www.riss.kr/pdu/ddodLink.do?id=T17164511▼nKERIS▼z이 자료의 원문은 한국교육학술정보원에서 제공합니다.
