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Delft University of Technology
1.
Oud, M. (author).
Performance of Existing Integrated Car Following and Lane Change Models around Motorway ramps.
Degree: 2016, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:33ca082f-ec20-4212-8947-ce4898039d8f 
► Models are an important tool for decision making. However, in order to get proper results, these models must be validated and only be used in…
(more)
▼ Models are an important tool for decision making. However, in order to get proper results, these models must be validated and only be used in situations where the conditions of the validation apply. Blind trust on a
model can lead to unexpected and inaccurate results. Advancements can be made to reduce the number of situations where this occurs. Not only by making the models more accurate, but also by doing more field studies for validation of behavioural aspects of the traffic. One of these aspects is the process of
lane changing and car following behaviour. These two aspects determine the general longitudinal and lateral driving behaviour. Mathematical models that describe these types of movements for each individual vehicle provide the building blocks for microscopic simulation. In most models, these two aspects are modelled independently, but newer models, such as the integrated driving behaviour
model (Toledo, 2003), attempt to mould this into an integral decision structure. This research attempts to validate the
lane changing and car following behaviour of three models: FOSIM, VISSIM and the aforementioned Integrated driving behaviour
model. These models are compared against a dataset from TNO of the motorway A270, in situations where free flow conditions apply. The models are tested on the desired speed distribution, the merging point distribution, the accepted gap distributions and the
lane change distribution. The
lane changes that are being found are classified by their distinctive causes, the so-called “triggers”. Six triggers are defined for
lane-
change classification. The main result is that calibration and validation play a major role in the validity of the models. For all tested simulation packages, their default parameters did not reflect the observed data. This means that the driver’s attitude and the traffic conditions have a large impact on the general driver behaviour. In free-flow traffic conditions, Dutch drivers tend to be risk-averse, as reflected in the low number of voluntary
lane changes and the wide gap acceptance distribution. This risk-averseness is usually not part of a model’s default parameter set and therefore calibration is essential to simulate the traffic correctly. Furthermore, the different triggers helped to get a clearer view about what type of
lane changes occur, where, and why they occur. The FOSIM simulation results show that this
model has serious limitations. A main point is that this
model is too deterministic regarding driver characteristics. Although in theory probabilistic factors could be added to the
model, further advancements of the
model, such as implementing probabilistic behaviour, requires reprogramming of the simulation package, which was not possible within this research. VISSIM gave better results, but it over-estimates the number of voluntary
lane changes in free flow conditions on Dutch motorways when using the default behavioural parameters. Further calibration of these parameters did partially correct this error, but the remaining estimation errors…
Advisors/Committee Members: Farah, H. (mentor), Van Beinum, A. (mentor), Hoogendoorn, S.P. (mentor), Wiggenraad, P.B.L. (mentor), Happee, R. (mentor).
Subjects/Keywords: simulation; lane change; behaviour; calibration; model
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APA (6th Edition):
Oud, M. (. (2016). Performance of Existing Integrated Car Following and Lane Change Models around Motorway ramps. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:33ca082f-ec20-4212-8947-ce4898039d8f
Chicago Manual of Style (16th Edition):
Oud, M (author). “Performance of Existing Integrated Car Following and Lane Change Models around Motorway ramps.” 2016. Masters Thesis, Delft University of Technology. Accessed March 07, 2021.
http://resolver.tudelft.nl/uuid:33ca082f-ec20-4212-8947-ce4898039d8f.
MLA Handbook (7th Edition):
Oud, M (author). “Performance of Existing Integrated Car Following and Lane Change Models around Motorway ramps.” 2016. Web. 07 Mar 2021.
Vancouver:
Oud M(. Performance of Existing Integrated Car Following and Lane Change Models around Motorway ramps. [Internet] [Masters thesis]. Delft University of Technology; 2016. [cited 2021 Mar 07].
Available from: http://resolver.tudelft.nl/uuid:33ca082f-ec20-4212-8947-ce4898039d8f.
Council of Science Editors:
Oud M(. Performance of Existing Integrated Car Following and Lane Change Models around Motorway ramps. [Masters Thesis]. Delft University of Technology; 2016. Available from: http://resolver.tudelft.nl/uuid:33ca082f-ec20-4212-8947-ce4898039d8f
2.
Nishanth, Bharadwaj.
Driver influence on vehicle track-ability on floating bridges
.
Degree: Chalmers tekniska högskola // Institutionen för mekanik och maritima vetenskaper, 2020, Chalmers University of Technology
URL: http://hdl.handle.net/20.500.12380/300748
► Thinking from a traveler’s perspective, it can be said that it is important to reduce travel time. The Norwegian Public Roads Administration (NPRA) is working…
(more)
▼ Thinking from a traveler’s perspective, it can be said that it is important to reduce travel time.
The Norwegian Public Roads Administration (NPRA) is working on a long term project to
extend the coastal highway route E39 as a continuous stretch of road between Kristiansand
and Trondheim. The road has a number of ferry crossings over fjords. Due to the depth in
the fjords, it is not possible to build conventional bridges. Thus, the objective is to reduce
the travel time by implementing a series of connections (e.g.submerged floating tunnels, subsea
road tunnels and floating bridges). One such fjord crossing is the Bjørnafjorden bridge which
spans for a length of over 5000 m.
The floating bridge will be exposed to a number of varied weather conditions of different
intensities. It is important to assess the vehicle handling and how the driver is experiencing
the moving road surface in these conditions. The bachelor thesis which was proposed on the
same topic, established a method to simulate the weather conditions in the CASTER driving
simulator at Chalmers. The Automotive Engineering project (AEP) aims at evaluating the
driving comfort and handling, when driving over the bridge in different weather conditions.
The main approach adopted is to simulate the driving conditions in CASTER driving simulator,
using the weather data provided by NPRA. Further, driving trials are conducted for a
combination of different weather conditions and vehicle speeds for car and bus models. The
results obtained from the trials are analyzed both subjectively using the driver feedback and
objectively using the data obtained from the driving simulator, to make suitable conclusions
and recommendations regarding the safe operating conditions of the bridge.
The project further concludes the correlation between the weather conditions and drivability
through both subjective and objective data analysis. The weather conditions were varied
from no wind condition to a 100-year storm condition. Also, the most frequently occurring
1-year storm condition was studied in detail with only wind on the vehicle, sea swell and wind
due to the wave conditions. A total of 157 driving trials were conducted with different vehicle
speeds (70 kmph, 90 kmph and 110kmph) and different maneuvers like lane change and
overtaking were performed to analyze the handling and stability of the car and bus. Straight
line driving is also simulated to determine the operating conditions of bridge, to check the safe
speed limit and ability of the driver to stay in lane.
Another deliverable of the project is to develop a driver model to perform a greater number
driving trials to test more conditions. Due to the lack of time and complexity of the weather
data, a basic driver model has been developed and a thorough literature survey has been done
to make suitable suggestions for the existing basic driver model as a future scope of the project.
To sum it up, the vertical and lateral dynamics of the vehicles driving over the bridge are
assessed in a…
Subjects/Keywords: Floating bridge;
Driving trials;
Simulation;
Driver comfort;
Lane change;
Overtake;
Staying in lane;
Driver model
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APA (6th Edition):
Nishanth, B. (2020). Driver influence on vehicle track-ability on floating bridges
. (Thesis). Chalmers University of Technology. Retrieved from http://hdl.handle.net/20.500.12380/300748
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Nishanth, Bharadwaj. “Driver influence on vehicle track-ability on floating bridges
.” 2020. Thesis, Chalmers University of Technology. Accessed March 07, 2021.
http://hdl.handle.net/20.500.12380/300748.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Nishanth, Bharadwaj. “Driver influence on vehicle track-ability on floating bridges
.” 2020. Web. 07 Mar 2021.
Vancouver:
Nishanth B. Driver influence on vehicle track-ability on floating bridges
. [Internet] [Thesis]. Chalmers University of Technology; 2020. [cited 2021 Mar 07].
Available from: http://hdl.handle.net/20.500.12380/300748.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Nishanth B. Driver influence on vehicle track-ability on floating bridges
. [Thesis]. Chalmers University of Technology; 2020. Available from: http://hdl.handle.net/20.500.12380/300748
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
3.
Jansson, Andreas.
Development of a Driver Model for Vehicle Testing.
Degree: The Institute of Technology, 2013, Linköping UniversityLinköping University
URL: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-102048
► The safety requirements for vehicles are today high and they will become more stringent in the future. The car companies test their products every…
(more)
▼ The safety requirements for vehicles are today high and they will become more stringent in the future. The car companies test their products every day to ensure that safety requirements are met. These tests are often done by professional drivers. If the car is tested in an everyday traffic situation, a normal experienced driver is desired. A drawback is that a human will eventually learn the manoeuvre he/she is told to do. An artificial driver is therefore to prefer to make the test repeatable. This thesis’ purpose is to develop and implement an artificial driver as a controller in order to follow a predefined trajectory. The driver model’s performance driving a double lane change manoeuvre should be as close to a real driver’s as possible. Data was gathered by inviting people to drive in a simulator. The results from the simulator tests were used to implement three different drivers with different experiences. The gathered data was used to categorize the test drivers into different driver types for each specific velocity by using the vehicle position from thetest results. This thesis studies the driver from a controller’s perspective and it resulted in two implemented controllers for reference tracking. The first approach was a Model Predictive Controller with reference tracking and the other approach was to use a FIR-filter in order to describe the drivers’ characteristics. A vehicle model was implemented in order to do the double lane change manoeuvre in a simulation environment together with the implemented driver model. The results show that the two approaches can be used for reference tracking. The MPC showed good results with the recreation of the test runs that were made by the categorized drivers. The FIR-filter had problems to mimic the drivers’ test runs and their characteristics. The advantage with MPC is its robustness, while the advantages with the FIR-filter are its, in comparison, simplicity in the implementation and the algorithm’s low computational cost. In order to make the FIR-filter more robust, some improvements have to be made. One improvement is to use gain scheduling in order to adjust the filter coefficients depending on thevelocity.
De säkerhetskraven som idag ställs på fordon är höga och det kommer bli mer strikt i framtiden. Bilföretag testar sina bilar varje dag för att se om komponenterna och bilen klarar säkerhetskraven som ställs. Till dessa tester används professionella testförare. I en vardaglig trafiksituation är det önskvärt att en normalt erfaren bilförare utför testen. En mänsklig förare kommer använda sin inlärningsförmåga vid repeterande manöver, vilket inte är önskvärt. En artificiell förare är därför att föredra. Den artificiella föraren ska köra så likt en verklig förare som möjligt vid en "double lane change"- (DLC) manöver. Detta examensarbete har som avsikt att implementera en förare som en regulator för att kunna följa en förutbestämd trajektoria på samma sätt som en verklig förare. I detta examensarbete har "DLC"-manövern…
Subjects/Keywords: Driver model; VTI; Double lane change; MPC; FIR-filter
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APA (6th Edition):
Jansson, A. (2013). Development of a Driver Model for Vehicle Testing. (Thesis). Linköping UniversityLinköping University. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-102048
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Jansson, Andreas. “Development of a Driver Model for Vehicle Testing.” 2013. Thesis, Linköping UniversityLinköping University. Accessed March 07, 2021.
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-102048.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Jansson, Andreas. “Development of a Driver Model for Vehicle Testing.” 2013. Web. 07 Mar 2021.
Vancouver:
Jansson A. Development of a Driver Model for Vehicle Testing. [Internet] [Thesis]. Linköping UniversityLinköping University; 2013. [cited 2021 Mar 07].
Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-102048.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Jansson A. Development of a Driver Model for Vehicle Testing. [Thesis]. Linköping UniversityLinköping University; 2013. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-102048
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Delft University of Technology
4.
Yu, Rui (author).
Lane Change Intention Recognition Models Using Hidden Markov Models and Relevance Vector Machines.
Degree: 2019, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:a4ea860a-46d1-498b-9742-152e92f55ace
► The development of intelligent vehicle and autonomous driving asked a higher requirement of ADAS on its functionality. Currently, ADAS systems are able to detect and…
(more)
▼ The development of intelligent vehicle and autonomous driving asked a higher requirement of ADAS on its functionality. Currently, ADAS systems are able to detect and segment urban and highway driving scenes. They cannot, in general, extract ’meaning’ from this segmentation yet. Learning the intention of other road users will help ADAS understand surroundings and make a response. In a highway scenario, understanding what the preceding vehicle is about to do, is the minimum level of understanding the environment in order to take a decision about your own actions. Among the driving behaviors the preceding vehicle could do, lane change is a complex and dangerous one. Thus, we aimed to develop a real-time lane change intention recognition model. This report presents three models inspired by the Hidden Markov Models (HMMs) and Relevance Vector Machines (RVMs). Besides these two methods, we proposed a new model which combines them and overcome both of their main shortcomings. According to the testing result, the proposed model can correctly recognize more than 95% of the driving behaviors within 1 second the behavior starts, while the F1 score is also as high as 0.98. Besides the high accuracy, the model also has a good performance on the flexibility, testing complexity and the generalization ability.
Mechanical Engineering | Vehicle Engineering | Cognitive Robotics
Advisors/Committee Members: Gavrila, Dariu (mentor), Tejada Ruiz, Arturo (graduation committee), Kooij, Julian (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: Intention Recognition; Lane Change; Hidden Markov Model; Relevance Vector Machine
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APA (6th Edition):
Yu, R. (. (2019). Lane Change Intention Recognition Models Using Hidden Markov Models and Relevance Vector Machines. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:a4ea860a-46d1-498b-9742-152e92f55ace
Chicago Manual of Style (16th Edition):
Yu, Rui (author). “Lane Change Intention Recognition Models Using Hidden Markov Models and Relevance Vector Machines.” 2019. Masters Thesis, Delft University of Technology. Accessed March 07, 2021.
http://resolver.tudelft.nl/uuid:a4ea860a-46d1-498b-9742-152e92f55ace.
MLA Handbook (7th Edition):
Yu, Rui (author). “Lane Change Intention Recognition Models Using Hidden Markov Models and Relevance Vector Machines.” 2019. Web. 07 Mar 2021.
Vancouver:
Yu R(. Lane Change Intention Recognition Models Using Hidden Markov Models and Relevance Vector Machines. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Mar 07].
Available from: http://resolver.tudelft.nl/uuid:a4ea860a-46d1-498b-9742-152e92f55ace.
Council of Science Editors:
Yu R(. Lane Change Intention Recognition Models Using Hidden Markov Models and Relevance Vector Machines. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:a4ea860a-46d1-498b-9742-152e92f55ace
Delft University of Technology
5.
Hamers, Paco (author).
Automated truck platoon model development and effect study of the lane change location on different motorway road sections.
Degree: 2018, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:5c33c234-9ad0-4523-bec3-8496f02eee42
► Truck platooning is seen as a method to reduce truck emissions and labor hours in the transport industry. The effect that truck platooning will have…
(more)
▼ Truck platooning is seen as a method to reduce truck emissions and labor hours in the transport industry. The effect that truck platooning will have on the other traffic receives less attention. In this thesis a methodology is proposed to model truck platoons, including a platoon level controller for lane changing. The model is used to estimate the on-ramp length that vehicles require in order to safely merge into the highway while interacting with platoons and the model is used to estimate the on-ramp length that truck platoons require in order to merge onto the highway if they would do so in platoon formation. Results show that onramps need to be at least 300 meters for other traffic to safely into the highway. For platoons to safely merge into the highway the required distance is heavily dependent on the crowdedness of the highway, ranging between 400-1000 meters of required on-ramp length.
Civil Engineering | Transport and Planning
Advisors/Committee Members: van Arem, Bart (mentor), Calvert, Simeon (mentor), Wang, Meng (mentor), Happee, Riender (mentor), Klunder, Gerdien (mentor), Delft University of Technology (degree granting institution).
Subjects/Keywords: Truck platoon; micro-simulation; on-ramp; road usage; lane change model
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APA (6th Edition):
Hamers, P. (. (2018). Automated truck platoon model development and effect study of the lane change location on different motorway road sections. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:5c33c234-9ad0-4523-bec3-8496f02eee42
Chicago Manual of Style (16th Edition):
Hamers, Paco (author). “Automated truck platoon model development and effect study of the lane change location on different motorway road sections.” 2018. Masters Thesis, Delft University of Technology. Accessed March 07, 2021.
http://resolver.tudelft.nl/uuid:5c33c234-9ad0-4523-bec3-8496f02eee42.
MLA Handbook (7th Edition):
Hamers, Paco (author). “Automated truck platoon model development and effect study of the lane change location on different motorway road sections.” 2018. Web. 07 Mar 2021.
Vancouver:
Hamers P(. Automated truck platoon model development and effect study of the lane change location on different motorway road sections. [Internet] [Masters thesis]. Delft University of Technology; 2018. [cited 2021 Mar 07].
Available from: http://resolver.tudelft.nl/uuid:5c33c234-9ad0-4523-bec3-8496f02eee42.
Council of Science Editors:
Hamers P(. Automated truck platoon model development and effect study of the lane change location on different motorway road sections. [Masters Thesis]. Delft University of Technology; 2018. Available from: http://resolver.tudelft.nl/uuid:5c33c234-9ad0-4523-bec3-8496f02eee42
Delft University of Technology
6.
Berger, Niels (author).
Lane Change Path Planning: with State-Dependent Safety Constraints.
Degree: 2018, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:03aa26dd-e7e6-4ebb-9cd3-def3e169526f
► In the past years a number of SAE level 2 driving automation systems have come available in commercial vehicles. An example is Volvo's Pilot Assist,…
(more)
▼ In the past years a number of SAE level 2 driving automation systems have come available in commercial vehicles. An example is Volvo's Pilot Assist, which provides a more comfortable journey for the driver as certain parts of the dynamic driving task are taken away, but it still requires the driver to be attentive in order to supervise the system and resume vehicle operation if necessary. Car manufacturers and high-tech companies all around the world are working on the development of an Automated Driving System (ADS) of level 3 or higher where the driver does not need to supervise, but have so far not been able to introduce any to the public. Operating a vehicle on an empty highway is relatively easy, but roads are getting more and more congested so dense traffic driving needs to be accounted for as well. Unsupervised driving does not only require that a system itself operates the vehicle correctly, but requires that it is able to cope with mistakes of other drivers. In order to take these into account as well as other unpredictable events, current driving automation systems tend to adopt large longitudinal margins with respect to surrounding traffic to use their ability to brake to avoid a collision. In dense traffic situations this conservative behaviour prohibits the ADS from making
lane changes. This thesis was setup in cooperation with Volvo Cars / Zenuity to develop a
lane change path planning algorithm that can plan active
lane changes in dense traffic, by pushing into a gap without compromising the ability to avoid a possible collision. Earlier work at Volvo suggested considering the ability of a vehicle to not only brake, but also to make an evasive maneuver. If an evasion maneuver is available the necessary safety margins are reduced considerably compared to a `braking-only' scenario. In this work, the evasive maneuver was modeled and a constraint formulation was developed that if met, guarantees the availability of the designed evasion maneuver. This constraint translates to a state-dependent safety zone which the ADS should keep the vehicle clear off at all times.
Model Predictive Control allows the implementation of such a safety zone by considering it as a constraint on the optimisation, guaranteeing that an evasion maneuver is available along any point on the prediction horizon. This negates the necessity to plan all possible evasion maneuvers separately, and it was therefore chosen as the path planning method. Implementation of the safety zone constraint on multiple surrounding vehicles, spread over multiple lanes in a
Model Predictive Control framework, together with the requirements of being able to overtake other vehicles within the prediction horizon, necessitated the development of a novel 3-step algorithm. In this algorithm three Optimal Control Problems are solved consecutively to plan a path which positions the ego-vehicle optimally in the targeted gap without breaching the safety zones. To be able to implement the algorithm in…
Advisors/Committee Members: Keviczky, Tamas (mentor), Shyrokau, Barys (graduation committee), Baldi, Simone (graduation committee), Brännstrom, Mattias (graduation committee), Delft University of Technology (degree granting institution).
Subjects/Keywords: Automated Drving Systems; Model Predictive Control; Nonlinear; Lane Change; Autonomous driving; Self-driving car; Automated driving; Merging
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APA ·
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APA (6th Edition):
Berger, N. (. (2018). Lane Change Path Planning: with State-Dependent Safety Constraints. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:03aa26dd-e7e6-4ebb-9cd3-def3e169526f
Chicago Manual of Style (16th Edition):
Berger, Niels (author). “Lane Change Path Planning: with State-Dependent Safety Constraints.” 2018. Masters Thesis, Delft University of Technology. Accessed March 07, 2021.
http://resolver.tudelft.nl/uuid:03aa26dd-e7e6-4ebb-9cd3-def3e169526f.
MLA Handbook (7th Edition):
Berger, Niels (author). “Lane Change Path Planning: with State-Dependent Safety Constraints.” 2018. Web. 07 Mar 2021.
Vancouver:
Berger N(. Lane Change Path Planning: with State-Dependent Safety Constraints. [Internet] [Masters thesis]. Delft University of Technology; 2018. [cited 2021 Mar 07].
Available from: http://resolver.tudelft.nl/uuid:03aa26dd-e7e6-4ebb-9cd3-def3e169526f.
Council of Science Editors:
Berger N(. Lane Change Path Planning: with State-Dependent Safety Constraints. [Masters Thesis]. Delft University of Technology; 2018. Available from: http://resolver.tudelft.nl/uuid:03aa26dd-e7e6-4ebb-9cd3-def3e169526f
University of Kansas
7.
Guerra, Agustin.
Modeling Discretionary Lane Changing Decisions for Connected Vehicles Based on Fuzzy Logic.
Degree: MS, Civil, Environmental & Architectural Engineering, 2019, University of Kansas
URL: http://hdl.handle.net/1808/29656
► Lane changing is one of the most complex tasks during driving. Advances in vehicle technology seek to help drivers during the lane change maneuver. Researchers…
(more)
▼ Lane changing is one of the most complex tasks during driving. Advances in vehicle technology seek to help drivers during the
lane change maneuver. Researchers have conducted many attempts to address this issue. However, most of these attempts have not focused on actual driver behavior using advanced vehicle technologies. Among those advances is the vehicle-to-vehicle (V2V) communication which promises safer and more efficient driving operations. This research seeks to fill in this gap by conducting an experiment in a driving simulator environment simulating V2V communication during a
lane change maneuver. The experiments allow a better understanding of driver behavior during
lane changing maneuvers. First, a literature review was completed to assess studies that focused on understanding and modeling discretionary
lane changes. Then a pilot study was conducted with a small sample on a driving simulator to obtain a fuzzy logic membership function. Then a large sample was tested for the study. Adjustments were made to the
model and performance measures were analyzed. A t-test was conducted to evaluate any significant differences between the two conditions with and without V2V communication. The results showed that drivers were more willing to accept smaller gaps under connected environment conditions than without V2Vcommunication. Also, the implementation of V2V communication was found to help drivers make the
lane changing decision faster. The overall initial speed was reduced under the connected environment.
Advisors/Committee Members: Kondyli, Alexandra (advisor), Schrock, Steven D (cmtemember), Mulinazzi, Thomas E (cmtemember).
Subjects/Keywords: Civil engineering; Automotive engineering; Electrical engineering; Connected Vehicles; Discretionary Lane Change; Fuzzy Logic; Model; Performance; V2V
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APA (6th Edition):
Guerra, A. (2019). Modeling Discretionary Lane Changing Decisions for Connected Vehicles Based on Fuzzy Logic. (Masters Thesis). University of Kansas. Retrieved from http://hdl.handle.net/1808/29656
Chicago Manual of Style (16th Edition):
Guerra, Agustin. “Modeling Discretionary Lane Changing Decisions for Connected Vehicles Based on Fuzzy Logic.” 2019. Masters Thesis, University of Kansas. Accessed March 07, 2021.
http://hdl.handle.net/1808/29656.
MLA Handbook (7th Edition):
Guerra, Agustin. “Modeling Discretionary Lane Changing Decisions for Connected Vehicles Based on Fuzzy Logic.” 2019. Web. 07 Mar 2021.
Vancouver:
Guerra A. Modeling Discretionary Lane Changing Decisions for Connected Vehicles Based on Fuzzy Logic. [Internet] [Masters thesis]. University of Kansas; 2019. [cited 2021 Mar 07].
Available from: http://hdl.handle.net/1808/29656.
Council of Science Editors:
Guerra A. Modeling Discretionary Lane Changing Decisions for Connected Vehicles Based on Fuzzy Logic. [Masters Thesis]. University of Kansas; 2019. Available from: http://hdl.handle.net/1808/29656
Loughborough University
8.
Singh, Karandeep.
Statistical modelling and analysis of traffic : a dynamic approach.
Degree: PhD, 2012, Loughborough University
URL: http://hdl.handle.net/2134/9421
► In both developed and emerging-economies, major cities continue to experience increasing traffic congestion. To address this issue, complex Traffic Management Systems (TMS) are employed in…
(more)
▼ In both developed and emerging-economies, major cities continue to experience increasing traffic congestion. To address this issue, complex Traffic Management Systems (TMS) are employed in recent years to help manage traffic. These systems fuse traffic-surveillance-related information from a variety of sensors deployed across traffic networks. A TMS requires real-time information to make effective control decisions and to deliver trustworthy information to users, such as travel time, congestion level, etc. There are three fundamental inputs required by TMS, namely, traffic volume, vehicular speed, and traffic density. Using conventional traffic loop detectors one can directly measure flow and velocity. However, traffic density is more difficult to measure. The situation becomes more difficult for multi-lane motorways due to drivers lane-change behaviour. This research investigates statistical modelling and analysis of traffic flow. It contributes to the literature of transportation and traffic management and research in several aspects. First, it takes into account lane-changes in traffic modelling through incorporating a Markov chain model to describe the drivers lane-change behaviour. Secondly, the lane change probabilities between two adjacent lanes are not assumed to be fixed but rather they depend on the current traffic condition. A discrete choice model is used to capture drivers lane choice behaviour. The drivers choice probabilities are modelled by several traffic-condition related attributes such as vehicle time headway, traffic density and speed. This results in a highly nonlinear state equation for traffic density. To address the issue of high nonlinearity of the state space model, the EKF and UKF is used to estimate the traffic density recursively. In addition, a new transformation approach has been proposed to transform the observation equation from a nonlinear form to a linear one so that the potential approximation in the EKF & UKF can be avoided. Numerical studies have been conducted to investigate the performance of the developed method. The proposed method outperformed the existing methods for traffic density estimation in simulation studies. Furthermore, it is shown that the computational cost for updating the estimate of traffic densities for a multi-lane motorway is kept at a minimum so that online applications are feasible in practice. Consequently the traffic densities can be monitored and the relevant information can be fed into the traffic management system of interest.
Subjects/Keywords: 388.3; Density estimation; Discrete choice model; Kalman filters; Lane-change behaviour; Logit model; Markov chain; Statistical analysis and modelling; Transport and traffic management
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APA (6th Edition):
Singh, K. (2012). Statistical modelling and analysis of traffic : a dynamic approach. (Doctoral Dissertation). Loughborough University. Retrieved from http://hdl.handle.net/2134/9421
Chicago Manual of Style (16th Edition):
Singh, Karandeep. “Statistical modelling and analysis of traffic : a dynamic approach.” 2012. Doctoral Dissertation, Loughborough University. Accessed March 07, 2021.
http://hdl.handle.net/2134/9421.
MLA Handbook (7th Edition):
Singh, Karandeep. “Statistical modelling and analysis of traffic : a dynamic approach.” 2012. Web. 07 Mar 2021.
Vancouver:
Singh K. Statistical modelling and analysis of traffic : a dynamic approach. [Internet] [Doctoral dissertation]. Loughborough University; 2012. [cited 2021 Mar 07].
Available from: http://hdl.handle.net/2134/9421.
Council of Science Editors:
Singh K. Statistical modelling and analysis of traffic : a dynamic approach. [Doctoral Dissertation]. Loughborough University; 2012. Available from: http://hdl.handle.net/2134/9421
Delft University of Technology
9.
de Baat, M.J. (author).
Empirical Investigation of Strategy-Based Lane Change Choice: A driving experiment and questionnaire.
Degree: 2016, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:7839a871-ce63-4799-bedf-8eeec05cee8b
Subjects/Keywords: lane change behaviour; microscopic simulation model; interview-based driving experiment; video-based questionnaire
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APA (6th Edition):
de Baat, M. J. (. (2016). Empirical Investigation of Strategy-Based Lane Change Choice: A driving experiment and questionnaire. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:7839a871-ce63-4799-bedf-8eeec05cee8b
Chicago Manual of Style (16th Edition):
de Baat, M J (author). “Empirical Investigation of Strategy-Based Lane Change Choice: A driving experiment and questionnaire.” 2016. Masters Thesis, Delft University of Technology. Accessed March 07, 2021.
http://resolver.tudelft.nl/uuid:7839a871-ce63-4799-bedf-8eeec05cee8b.
MLA Handbook (7th Edition):
de Baat, M J (author). “Empirical Investigation of Strategy-Based Lane Change Choice: A driving experiment and questionnaire.” 2016. Web. 07 Mar 2021.
Vancouver:
de Baat MJ(. Empirical Investigation of Strategy-Based Lane Change Choice: A driving experiment and questionnaire. [Internet] [Masters thesis]. Delft University of Technology; 2016. [cited 2021 Mar 07].
Available from: http://resolver.tudelft.nl/uuid:7839a871-ce63-4799-bedf-8eeec05cee8b.
Council of Science Editors:
de Baat MJ(. Empirical Investigation of Strategy-Based Lane Change Choice: A driving experiment and questionnaire. [Masters Thesis]. Delft University of Technology; 2016. Available from: http://resolver.tudelft.nl/uuid:7839a871-ce63-4799-bedf-8eeec05cee8b
10.
Thellman, Jonas.
Vehicle Dynamics Testing in Advanced DrivingSimulators Using a Single Track Model.
Degree: The Institute of Technology, 2012, Linköping UniversityLinköping University
URL: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-79397
► The purpose of this work is to investigate if simple vehicle models are realisticand useful in simulator environment. These simple models have been parametrisedby…
(more)
▼ The purpose of this work is to investigate if simple vehicle models are realisticand useful in simulator environment. These simple models have been parametrisedby the Department of Electrical Engineering at Linköping University and havebeen validated with good results. The models have been implemented in a simulatorenvironment and a simulator study was made with 24 participants. Eachtest person drove both slalom and double lane change manoeuvres with the simplemodels and with VTI’s advanced model. The test persons were able to successfullycomplete double lane changes for higher velocities with the linear tyre modelcompared to both the non-linear tyre model and the advanced model. The wholestudy shows that aggressive driving of a simple vehicle model with non-linear tyredynamics is perceived to be quite similar to an advanced model. It is noted significantdifferences between the simple models and the advanced model when drivingunder normal circumstances, e.g. lack of motion cueing in the simple model suchas pitch and roll.
Subjects/Keywords: vehicle simulator; single track model; vehicle dynamics; magic formula; relaxation length; double lane change
…Institute
Double Lane Change
Single Track model
User Datagram Protocol
Standard deviation
Mean… …x5D; that the ST model
fits well with measured data when driving a double lane change (… …Slalom Run . . . . . . . . . . . .
5.1.2 Double Lane Change Manoeuvre
5.1.3 Participants… …driving
scenario consist of a double lane change manoeuvre [1] and a slalom track… …Simulator) . . . . . . . . . . . . . . . . . . . . . . . .
2.2 VTI’s Vehicle Model…
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APA ·
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APA (6th Edition):
Thellman, J. (2012). Vehicle Dynamics Testing in Advanced DrivingSimulators Using a Single Track Model. (Thesis). Linköping UniversityLinköping University. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-79397
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Thellman, Jonas. “Vehicle Dynamics Testing in Advanced DrivingSimulators Using a Single Track Model.” 2012. Thesis, Linköping UniversityLinköping University. Accessed March 07, 2021.
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-79397.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Thellman, Jonas. “Vehicle Dynamics Testing in Advanced DrivingSimulators Using a Single Track Model.” 2012. Web. 07 Mar 2021.
Vancouver:
Thellman J. Vehicle Dynamics Testing in Advanced DrivingSimulators Using a Single Track Model. [Internet] [Thesis]. Linköping UniversityLinköping University; 2012. [cited 2021 Mar 07].
Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-79397.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Thellman J. Vehicle Dynamics Testing in Advanced DrivingSimulators Using a Single Track Model. [Thesis]. Linköping UniversityLinköping University; 2012. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-79397
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
11.
Du, Zhiyuan.
The Hierarchical Control Method for Coordinating a Group of Connected Vehicles on Urban Roads.
Degree: PhD, Engineering and Science Education, 2017, Clemson University
URL: https://tigerprints.clemson.edu/all_dissertations/2000
► Safety, mobility and environmental impact are the three major challenges in today's transportation system. As the advances in wireless communication and vehicle automation technologies, they…
(more)
▼ Safety, mobility and environmental impact are the three major challenges in today's transportation system. As the advances in wireless communication and vehicle automation technologies, they have rapidly led to the emergence and development of connected and automated vehicles (CAVs). We can expect fully CAVs by 2030. The CAV technologies offer another solution for the issues we are dealing with in the current transportation system. In the meanwhile, urban roads are one of the most important part in the transportation network. Urban roads are characterized by multiple interconnected intersections. They are more complicated than highway traffic, because the vehicles on the urban roads are moving in multiple directions with higher relative velocity. Most of the traffic accidents happened at intersections and the intersections are the major contribution to the traffic congestions. Our urban road infrastructures are also becoming more intelligent. Sensor-embedded roadways are continuously gathering traffic data from passing vehicles. Our smart vehicles are meeting intelligent roads. However, we have not taken the fully advantages of the data rich traffic environment provided by the connected vehicle technologies and intelligent road infrastructures. The objective of this research is to develop a coordination control strategy for a group of connected vehicles under intelligent traffic environment, which can guide the vehicles passing through the intersections and make smart
lane change decisions with the objective of improving overall fuel economy and traffic mobility. The coordination control strategy should also be robust to imperfect connectivity conditions with various connected vehicle penetration rate. This dissertation proposes a hierarchical control method to coordinate a group of connected vehicles travelling on urban roads with intersections. The dissertation includes four parts of the application of our proposed method: First, we focus on the coordination of the connected vehicles on the multiple interconnected unsignalized intersection roads, where the traffic signals are removed and the collision avoidance at the intersection area relays on the communication and cooperation of the connected vehicles and intersection controllers. Second, a fuel efficient hierarchical control method is proposed to control the connected vehicles travel on the signalized intersection roads. With the signal phase and timing (SPAT) information, our proposed approach is able to help the connected vehicles minimize red light idling and improve the fuel economy at the same time. Third, the research is extended form single
lane to multiple
lane, where the connected vehicle discretionary and cooperative mandatory
lane change have been explored. Finally, we have analysis the real-world implementation potential of our proposed algorithm including the communication delay and real-time implementation analysis.
Advisors/Committee Members: Dr. Pierluigi Pisu, Committee Chair, Dr. Mashrur Chowdury, Dr. Simona Onori, Dr. Andrej Ivanco.
Subjects/Keywords: Connected and Automated Vehicles; Hierarchical Control; Lane Change; Model Predictive Control
…lane
change will be executed. The Gipps LCD model [61] was later further extended… …change model has been developed.
The cooperation during lane change between the host vehicle… …85
CHAPTER 3
LANE CHANGE DECISION… …87
3.1
Introduction on Lane Change Decision (LCD)… …88
3.3
Discretionary Lane Change Decision…
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APA ·
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Manager
APA (6th Edition):
Du, Z. (2017). The Hierarchical Control Method for Coordinating a Group of Connected Vehicles on Urban Roads. (Doctoral Dissertation). Clemson University. Retrieved from https://tigerprints.clemson.edu/all_dissertations/2000
Chicago Manual of Style (16th Edition):
Du, Zhiyuan. “The Hierarchical Control Method for Coordinating a Group of Connected Vehicles on Urban Roads.” 2017. Doctoral Dissertation, Clemson University. Accessed March 07, 2021.
https://tigerprints.clemson.edu/all_dissertations/2000.
MLA Handbook (7th Edition):
Du, Zhiyuan. “The Hierarchical Control Method for Coordinating a Group of Connected Vehicles on Urban Roads.” 2017. Web. 07 Mar 2021.
Vancouver:
Du Z. The Hierarchical Control Method for Coordinating a Group of Connected Vehicles on Urban Roads. [Internet] [Doctoral dissertation]. Clemson University; 2017. [cited 2021 Mar 07].
Available from: https://tigerprints.clemson.edu/all_dissertations/2000.
Council of Science Editors:
Du Z. The Hierarchical Control Method for Coordinating a Group of Connected Vehicles on Urban Roads. [Doctoral Dissertation]. Clemson University; 2017. Available from: https://tigerprints.clemson.edu/all_dissertations/2000
University of Queensland
12.
Xu, Xin.
Sensorimotor basis of motor vehicle control.
Degree: School of Human Movement and Nutrition Sciences, 2017, University of Queensland
URL: http://espace.library.uq.edu.au/view/UQ:510637
Subjects/Keywords: Optic flow; Driving; Steering; Lane change; Vestibular cues; Internal model; Inertial feedback; Real vehicle; 080602 Computer-Human Interaction; 110603 Motor Control; 170112 Sensory Processes, Perception and Performance
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APA ·
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Manager
APA (6th Edition):
Xu, X. (2017). Sensorimotor basis of motor vehicle control. (Thesis). University of Queensland. Retrieved from http://espace.library.uq.edu.au/view/UQ:510637
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Xu, Xin. “Sensorimotor basis of motor vehicle control.” 2017. Thesis, University of Queensland. Accessed March 07, 2021.
http://espace.library.uq.edu.au/view/UQ:510637.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Xu, Xin. “Sensorimotor basis of motor vehicle control.” 2017. Web. 07 Mar 2021.
Vancouver:
Xu X. Sensorimotor basis of motor vehicle control. [Internet] [Thesis]. University of Queensland; 2017. [cited 2021 Mar 07].
Available from: http://espace.library.uq.edu.au/view/UQ:510637.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Xu X. Sensorimotor basis of motor vehicle control. [Thesis]. University of Queensland; 2017. Available from: http://espace.library.uq.edu.au/view/UQ:510637
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
13.
Shui, Yuhao.
Strategic Trajectory Planning of Highway Lane Change
Maneuver with Longitudinal Speed Control.
Degree: MS, Electrical and Computer Engineering, 2015, The Ohio State University
URL: http://rave.ohiolink.edu/etdc/view?acc_num=osu1431093441
► Even though extensive research has been conducted on vehicle highway longitudinal control under simple driving scenario, real life implementation of such system requires considering of…
(more)
▼ Even though extensive research has been conducted on
vehicle highway longitudinal control under simple driving scenario,
real life implementation of such system requires considering of
surrounding trafficc situations and movements such as
lane change,
weaves, on-ramp and off-ramp merges. In this thesis, the concept of
driver being responsible for lateral control with automated
longitudinal control is deployed in order to realize the mobility
and safety benefitts and a fundamental framework has been built to
investigate highway longitudinal control with
lane change
trajectory generated by geometric high-order polynomial. With the
assumption of surrounding vehicles' position and velocity are
available, highway two
lane situation with driver being advised by
the
lane change module for the operation is studied. This system
consists of several different modules: vehicle single
lane
following control module, maneuver generation module,
lane change
trajectory generation module and
Model Predictive Control (MPC)
control while
lane changing. Three controllers: PID cruise
controller, transitional trajectory and vehicle following
controller are used to achieve the functionality of vehicle
following with a Finite State Machine (FSM) designed for controller
switch decision making based on surrounding traffic movements. The
following controller is needed to follow the preceding slower
vehicle when driver does not intend to make a
lane change. The
vehicle maneuver generation module is first designed to inform the
system, for example, whether an acceleration or deceleration
lane
change is needed to lead or follow the vehicle in the adjacent
lane. Both Time to Collision and Inter Vehicular Time are used as
collision indicators to ensure safety. All possible cases of
high-way two
lane situation with one slow preceding vehicle and one
surrounding vehicle in the adjacent
lane are integrated into the
maneuver generation FSM design. Based on thesuggested maneuver, the
lane change trajectory generation module provides a desired
trajectory for the longitudinal controller to follow. A pure
geometric high order polynomial trajectory planning method is used
to design obstacle avoidance
lane change trajectory. In the end, an
MPC controller is utilized to control the speed of the vehicle
while
lane changing.
Advisors/Committee Members: Ozguner, Umit (Advisor), Wang, Junmin (Advisor).
Subjects/Keywords: Automotive Engineering; Electrical Engineering; Mechanical Engineering; Lane change, Adaptive Cruise Control, Model Predictive
Control, Polynomial, Finite State Machine
…1.1.3 Model Predictive Control . . . . . . . . . . .
Overview of Lane Change Trajectory… …Matlab/Simulink model. A detailed flow chart of lane change algorithm is given describing
the… …can
only recommend for a lane change and the lane change model should always standby
once a… …implemented in every vehicle on the road, will the system occur big oscillation?
Lane change model… …1.1.1 Adaptive Cruise Control (ACC) . . . . . . . .
1.1.2 Lane Change and Merge…
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APA ·
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Manager
APA (6th Edition):
Shui, Y. (2015). Strategic Trajectory Planning of Highway Lane Change
Maneuver with Longitudinal Speed Control. (Masters Thesis). The Ohio State University. Retrieved from http://rave.ohiolink.edu/etdc/view?acc_num=osu1431093441
Chicago Manual of Style (16th Edition):
Shui, Yuhao. “Strategic Trajectory Planning of Highway Lane Change
Maneuver with Longitudinal Speed Control.” 2015. Masters Thesis, The Ohio State University. Accessed March 07, 2021.
http://rave.ohiolink.edu/etdc/view?acc_num=osu1431093441.
MLA Handbook (7th Edition):
Shui, Yuhao. “Strategic Trajectory Planning of Highway Lane Change
Maneuver with Longitudinal Speed Control.” 2015. Web. 07 Mar 2021.
Vancouver:
Shui Y. Strategic Trajectory Planning of Highway Lane Change
Maneuver with Longitudinal Speed Control. [Internet] [Masters thesis]. The Ohio State University; 2015. [cited 2021 Mar 07].
Available from: http://rave.ohiolink.edu/etdc/view?acc_num=osu1431093441.
Council of Science Editors:
Shui Y. Strategic Trajectory Planning of Highway Lane Change
Maneuver with Longitudinal Speed Control. [Masters Thesis]. The Ohio State University; 2015. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=osu1431093441
. 
Open Access Theses and Dissertations
