Non-cooperative Vehicles Research Articles

Distributed Scheduling at Non-Signalized Intersections With Mixed Cooperative and Non-Cooperative Vehicles

Intersection management with mixed cooperative and non-cooperative vehicles is crucial in next-generation transportation systems. For fully non-cooperative systems, a minimax scheduling framework was established, while it is inefficient in mixed systems as the benefit of cooperation is not exploited. This paper focuses on the efficient scheduling in mixed systems and proposes a two-stage decision framework that makes full use of the cooperation. First, a long-horizon self-organization policy is developed to optimize the passing order of cooperative vehicles in a distributed manner, which is proved convergent when inbound roads are sufficiently long. Then a short-horizon trajectory planning policy is proposed to improve the efficiency when an ego-vehicle faces both cooperative and non-cooperative vehicles, and its safety and efficiency are theoretically validated. Moreover, simulation results verify that the proposed policies can effectively reduce the scheduling cost and improve the throughput for cooperative vehicles.

Reactive Symbolic Planning and Control in Dynamic Adversarial Environments

Satisfying both safety and reachability requirements in dynamic adversarial environments is very challenging, particularly when little or no information about the dynamics and intentions of the adversarial objects is available. Therefore, this paper addresses the problem of path planning and control of autonomous vehicles in a dynamic adversarial reach-avoid scenario with two non-cooperative vehicles and their competitive objectives: &#x201C;reaching a target and avoiding the other vehicle&#x201D; for one of them, called attacker, and &#x201C;protecting the target and capturing the opponent vehicle&#x201D; for the other one, called defender. In the proposed solution, first, a discrete version of the problem is formulated and solved using Linear Temporal Logic, temporal games, and <inline-formula><tex-math notation="LaTeX">$\mu$</tex-math></inline-formula>-calculus to construct winning discrete strategies that guarantee safety and reachability. A comprehensive discussion on the existence, correctness, and complexity analysis of the solution is also provided. Finally, a novel correct-by-design hybrid controller is designed to generate smooth control signals that preserve the satisfaction of safety and reachability.

Hindrance-Aware Platoon Formation for Connected Vehicles in Mixed Traffic

Aiming at traffic efficiency improvement, vehicle platoon becomes an essential driving technique to control the synchronous driving of connected and automated vehicles. Since the mature automated driving technology and cooperative willingness cannot be ensured for all vehicles, a mixed traffic paradigm that incorporates both cooperative vehicles (CVs) and non-cooperative vehicles (NCVs) will be inevitable. Due to the traffic hindrance and intermittent connections caused by the randomly distributed NCVs, traffic efficiency would be limited in the mixed traffic. Therefore, a hindrance-aware platoon formation scheme is proposed for the mixed traffic in this paper, which aims at coordinating CVs to maximize overall traffic velocity while minimize collision risk and fuel consumption. Specifically, a vehicle connection model is first established to construct the hindrance-aware relationships among vehicles, based on which, the intermittent connections of CVs are formulated as a mixed integer nonlinear programming (MINLP) problem. To reduce the search space, a novel cross-vehicle matrix is designed to represent the hindrances that each CV faces, then a traffic-maneuver-tree construction algorithm is proposed to search for feasible and hindrance-aware platoon formation connections. A length-dynamic inverse influence zone is constructed, then two decision indicators of platoon leader and follower are decoupled by evaluating leadership qualifications of all CVs. Given the hindrance-aware connections and leadership qualifications, a hindrance-aware platoon formation algorithm is proposed to jointly optimize the speed, safety and energy efficiency of CVs. To verify the effectiveness of the platoon formation mechanism, extensive simulations are conducted, and the results reveal that the road utilization, traffic capacity improvement and safety assurance in mixed traffic can be enhanced.

Consortium Blockchain for Cooperative Location Privacy Preservation in 5G-Enabled Vehicular Fog Computing

Privacy is a key requirement for connected vehicles. Cooperation between vehicles is mandatory for achieving location privacy preservation. However, non-cooperative vehicles can be a big issue to achieve this objective. To this end, we propose a novel monetary incentive scheme for cooperative location privacy preservation in 5G-enabled Vehicular Fog Computing. This scheme leverages a consortium blockchain-enabled fog layer and smart contracts to ensure a trusted and secure cooperative Pseudonym Changing Processes (PCPs). We also propose optimized smart contracts to reduce the monetary costs of vehicles while providing more location privacy preservation. Moreover, a resilient and lightweight Utility-based Delegated Byzantine Fault Tolerance (U-DBFT) consensus protocol is proposed to ensure fast and reliable block mining and validation. The performance analysis shows that our scheme has effective incentive techniques to stimulate non-cooperative vehicles and provides optimal monetary cost management and secure, private, fast validation of blocks.

Ssues of recognition system synthesis based on laser range profiles

In this article we described common problems encountered by various researchers when synthesizing recognition systems based on laser range profile, developed for non-cooperative vehicle recognition. Proven approaches to tackling the problems are also considered. The contemporary level of the technology and guidelines for developing the recognition systems are discussed. Based on the research results combined, it is concluded that such systems are not only feasible, but also in demand.

Effect of non-cooperative vehicles on path connectivity in vehicular networks: A theoretical analysis and UAV-based remedy

A fully-connected Vehicular Ad-hoc Network (VANET) contributes tremendously to the improvement of the travel experience of commuting passengers. However, the existence of an end-to-end multi-hop path across VANET highly depends on the willingness of vehicles to cooperate with one another when it comes to data forwarding. Unlike the existing VANET connectivity studies that focused solely on fully-cooperative vehicular environments, this paper develops a mathematical model to explain the effect of non-cooperative vehicles on the end-to-end connectivity through the roadway segments of a VANET.First, this work characterizes some of the fundamental traffic-theoretic properties of VANETs in the presence of non-cooperative vehicles. Then, it proposes to alleviate the detrimental effect of non-cooperation on end-to-end path connectivity by exploiting Unmanned Aerial Vehicles (UAVs) as store-carry-and-forward nodes in a VANET. Through both mathematical analysis and extensive simulations, the role that UAVs can play in enhancing end-to-end path connectivity is quantified in the context of a hybrid, UAV-assisted VANET architecture.

Cooperative Intelligence in Roundabout Intersections Using Hierarchical Fuzzy Behavior Calculation of Vehicle Speed Profile

In this paper, a new fuzzy-behavior-based algorithm for roundabout intersection management is presented. The algorithm employs cooperative intelligence and includes intelligent vehicles and infrastructure to calculate speed profiles for different vehicles, in order to achieve more comfortable driving profiles, as well to reduce congestion and CO 2 emissions. The algorithm uses adaptive spatio-temporal reservation technique and was tested in MATLAB/Simulink environment. The algorithm is designed to function in different scenarios with both cooperative and non-cooperative vehicles, as well as optional intersection infrastructure. Results have show that using the proposed algorithm different vehicle communication types can be successfully combined in order to increase traffic flow through roundabout intersections.

Operational Concepts for Truck Maneuvers with Cooperative Adaptive Cruise Control

Cooperative adaptive cruise control (CACC) has been loosely defined in recent literature to represent a wide variety of vehicle-following control concepts, and when trucks are discussed, CACC is often used synonymously with platooning. This paper discusses the similarities and differences between CACC and platooning and provides a more precise functional description of CACC operations for trucks. CACC operations include not only the steady state cruising mode but also the maneuvers needed to join vehicles together and separate them when a vehicle needs to leave a CACC string or when the string is interrupted by a cut-in maneuver by a noncooperative vehicle. Activity diagrams are used to describe the CACC maneuvers; the diagrams specify the sequence of actions that need to be taken by each driver and each vehicle (and its CACC software) and the information that needs to be exchanged between them. These precise definitions can be used to specify the vehicle-to-vehicle messages that need to be exchanged between vehicles to implement CACC and the driver–vehicle interface displays and controls that are needed. The paper also addresses practical considerations in CACC operation, such as maximum lengths for strings of CACC trucks, strategies for sequencing the trucks in CACC strings, and higher-level strategies for clustering CACC-capable trucks; these strategies range from ad hoc to local and global coordination.

Planificación de Trayectorias Libres de Colisión para Múltiples UAVs usando el Perfil de Velocidad

This paper presents a method for collision resolution among multiple UAVs sharing the airspace with non-cooperative aircrafts. The proposed method finds collision free trajectories by changing the velocity profile of the different vehicles involved in the conflict taking into account other mobile objects or non-cooperative vehicles. The objective is to find the closest solution to the initially planned trajectories for the UAvs. The collision resolution process has two main steps: initialization using tree search and final solution applying Tabu search. The paper presents different simulations showing the efficiency of the proposed method for collision resolution in real-time.

Cooperation Enhancement for Message Transmission in VANETs

As one special case of the Mobile Ad Hoc Networks (MANET), vehicular ad-hoc networking (VANET) is featured by its high mobility and constantly changing topology. In VANET, nodes can work properly only if the participating vehicles cooperate with each other during communications. However, as a distributed network, individual vehicles might be non-cooperative for their own benefits. In order to prevent non-cooperative vehicles from tampering packet relaying in the network, we propose a cooperation enhancement mechanism using "Neighborhood WatchDog" to generate "Trust Token" based on the first-hand observation. Therefore, trust relationships and packet-acceptance decisions of the receiving nodes are based on the instant observation and the token-proved relaying behavior of the benign neighboring vehicles. With the inherit mapping between the Electronic ID of one vehicle and its public key, keys can be distributed on-the-fly. As a network layer solution, the cooperation enhancement mechanism proposed in this paper is built on the top of our previous proposed Media Access Control (MAC) protocol: Relative Position Based-MAC (RPB-MAC).