This paper is on a pedestrian collision avoidance system for low speed autonomous shuttles based on Vehicle-to-Pedestrian (V2P) communication. When pedestrians cannot be detected using line-of-sight sensors like camera, radar and LIDAR, V2P communication with the Dedicated Short Range Communication (DSRC) enabled pedestrian smartphone is used to detect and localize them through the in-vehicle DSRC radio used for Vehicle-to-Everything (V2X) communication. The vehicle, then, either stops or, if possible, goes around the pedestrian in a socially acceptable manner using the elastic band method for locally modifying the vehicle trajectory in real time. The elastic band method of collision avoidance is modified for fast real time execution in this paper. Along with model-in-the-loop simulations, a hardware-in-the-loop simulator using an automated driving vehicle model in the high fidelity vehicle dynamics simulation program Carsim Real Time with Sensors and Traffic with two DSRC modems emulating the vehicle and pedestrian communications is introduced and used in this paper as a prerequisite to real world experiments. Both stationary and moving pedestrians are considered in the model and hardware-in-the-loop simulations. Two real world experiments are also presented to demonstrate the V2P based avoidance of crashes between low speed autonomous shuttles and pedestrians.

Collision Avoidance of Low Speed Autonomous Shuttles with Pedestrians

This paper is on a pedestrian collision warning and avoidance system for road vehicles based on V2X communication. In cases where the presence and location of a pedestrian or group of pedestrians cannot be determined using line-of-sight sensors like camera, radar and lidar, signals from pedestrians' smartphone apps are used to detect and localize them relative to the road vehicle through the DSRC radio used for V2X communication. A hardware-in-the-loop setup using a validated automated driving vehicle model in the high fidelity vehicle dynamics simulation program Carsim Real Time with Sensors and Traffic is used along with two DSRC modems emulating the vehicle and pedestrian communications in the development and initial experimental testing of this method. The vehicle either stops or, if possible, goes around the pedestrians in a socially acceptable manner. The elastic band method is used to locally modify the vehicle trajectory in real time when pedestrians are detected on the nearby path of the vehicle. The effectiveness of the proposed method is demonstrated using hardware-in-the-loop simulations.

Elastic band based pedestrian collision avoidance using V2X communication

The invention relates to a 'hardware-in-loop' accelerated loading simulation test system for intelligent connected vehicles, relates to the technical field of intelligent vehicle automated driving and traffic simulation, and aims to quickly test intelligent vehicle planning decision devices in a more advanced, 'real' and comprehensive manner through a rich and vivid traffic scene. The simulation test system comprises a traffic simulation layer, a data transmission layer, and an intelligent vehicle layer, which jointly restrict the operation speed of the system. The traffic simulation layer is mainly used for generating a 'real' traffic scene based on traffic simulation software and simulating the perception and reaction of intelligent vehicles to the surrounding environment, and can load multiple scenes automatically and accelerate the operation of the scene. The intelligent vehicle layer contains intelligent connected vehicles developed by different organizations. The data transmission layer is used for connecting the traffic simulation software with one or more actual intelligent vehicle planning decision devices through a hardware/software interface to transmit perception information and vehicle control information between the traffic simulation layer and the intelligent vehicle layer.

'Hardware-in-loop' accelerated loading simulation test system for intelligent connected vehicles

In this paper, we propose a fixed point theory to solve games of imperfect information. The fixed point theory is defined on the lattice of antichains of sets of states. Contrary to the classical solution proposed by Reif [Rei84], our new solution does not involve determinization. As a consequence, it is readily applicable to classes of systems that do not admit determinization. Notable examples of such systems are timed and hybrid automata. As an application, we show that the discrete control problem for games of imperfect information defined by rectangular automata is decidable. This result extends a result by Henzinger and Kopke in [HK99].

A lattice theory for solving games of imperfect information

The invention relates to a micro intelligent car framework for an intelligent traffic hardware online simulation system. The micro intelligent car framework is characterized by comprising a car model chassis, a control module, a sensor module, a wireless communication system and a power supply module; the control module, a sensing device for a road environment, the wireless communication module and the power supply module, which are connected in sequence, are placed in the car model chassis; the control module has the capacities of environment sensing, mode identifying and decision planning by C# and Halcon image processing. Compared with the prior art, the micro intelligent car framework for the intelligent traffic hardware online simulation system has the beneficial effect of strong portability on a real car by adopting the principle similar to the real car. A micro intelligent car is the key element of an online simulation entity of the intelligent traffic research and can be used for finishing all tests on the online simulation system of the intelligent traffic hardware, thus practicing the influence of a car networking technology on the future intelligent traffic, and performing new probing by means of the research of the car networking technology for the multi-car interactive cooperation.

Micro intelligent car framework for intelligent traffic hardware online simulation system

The collision avoidance algorithm based on state estimation is developed by introducing the concept of force field and warning function in the roundabout. The desired trajectory is an array stored in memory, the choice of target point array determines the vehicle trajectory. According to the predictive value and measurement of positioning system, the autonomous vehicle implements path following algorithm by estimating the states. A rectangle on the position plane is used to describe conflict area, and the multi-vehicle autonomous system model is established. By selecting the safety operation mode, vehicles can be away from the conflict area and pass the merging points by implementing collision avoidance algorithm.

Vehicle collision avoidance algorithm based on state estimation in the roundabout

The invention relates to the field of swarm robots and intelligent transportation and provides a multi-autonomous-vehicle decision and control real-time simulation experiment system. The real-time simulation experiment system is composed of a plurality of portions and mainly comprises a multi-autonomous-vehicle system, a wireless communication system, an indoor locating system and a PC information processing system. The multi-autonomous-vehicle decision and control real-time simulation experiment system is characterized in that the indoor locating system obtains position information of autonomous vehicles, and the PC information processing system converts the position information of each autonomous vehicle into an actual coordinate and sends the actual coordinate of each autonomous vehicle to the corresponding autonomous vehicle through the wireless communication system. Each system is composed of different functional modules. Each module independently finishes work and all modules are contacted with one another. Based on the multi-autonomous-vehicle decision and control real-time simulation experiment system, distributed type optimization method study, safety control algorithm design, reappearance of the multi-autonomous-vehicle cooperation process in an intelligent transportation system, analysis of experimental results and the like can be achieved.

Lei Wang

Papers

Vehicle collision avoidance algorithm based on state estimation in the roundabout

Multi-autonomous-vehicle decision and control real-time simulation experiment system