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Interaction-Aware Cut-In Trajectory Prediction and Risk Assessment in Mixed Traffic

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IEEE/CAA Journal of Automatica Sinica 2022年第10期9卷 1752-1762页

作者： Xianglei Zhu Wen Hu Zejian Deng Jinwei Zhang Fengqing Hu Rui Zhou Keqiu Li Fei-Yue Wang the College of Intelligence and Computing Tianjin UniversityTianjin 300350 the China Automotive Technology and Research Center Co.Ltd. Tianjin 300300China the State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body College of Mechanical and Vehicle EngineeringHunan UniversityChangsha 410082China the Department of Mechanical and Mechatronics Engineering University of WaterlooWaterlooON N2L3G1Canada the School of Mechanical Engineering Beijing Institute of TechnologyBeijing 100081China the Macao University of Science and Technology MacaoChina the Waytous Inc. Qingdao 266000China IEEE the State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China

Accurately predicting the trajectories of surrounding vehicles and assessing the collision risks are essential to avoid side and rear-end collisions caused by *** improve the safety of autonomous vehicles in the mixed traffic,this study proposes a cut-in prediction and risk assessment method with considering the interactions of multiple traffic *** integration of the support vector machine and Gaussian mixture model(SVM-GMM)is developed to simultaneously predict cut-in behavior and *** dimension of the input features is reduced through Chebyshev fitting to improve the training efficiency as well as the online inference *** on the predicted trajectory of the cut-in vehicle and the responsive actions of the autonomous vehicles,two risk measurements are introduced to formulate the comprehensive interaction risk through the combination of Sigmoid function and Softmax ***,the comparative analysis is performed to validate the proposed method using the naturalistic driving *** results show that the proposed method can predict the trajectory with higher precision and effectively evaluate the risk level of a cut-in maneuver compared to the methods without considering interaction.

关键词： Cut-in behavior interaction-aware mixed traffic risk assessment trajectory prediction

Local Rational Modeling for Identification Beyond the Nyquist Frequency: Applied to a Prototype Wafer Stage

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arXiv 2025年

作者： van Haren, Max Blanken, Lennart Classens, Koen Oomen, Tom Control Systems Technology Section Department of Mechanical Engineering Eindhoven University of Technology Eindhoven5600 MB Netherlands Sioux Technologies Eindhoven5633 AA Netherlands Delft Center for Systems and Control Delft University of Technology Delft2628 CD Netherlands

Fast-rate models are essential for control design, specifically to address intersample behavior. The aim of this paperis to develop a frequency-domain non-parametric identification technique to estimate fast-rate models of systems that have relevant dynamics and allow for actuation above the Nyquist frequency of a slow-rate output. Examples of such systems include vision-in-the-loop systems. Through local rational models over multiple frequency bands, aliased components are effectively disentangled, particularly for lightly-damped systems. The developed technique accurately determines non-parametric fast-rate models of systems with slow-rate outputs, all within a single identification experiment. Finally, the effectiveness of the technique is demonstrated through experiments conducted on a prototype wafer stage used for semiconductor manufacturing. © 2025, CC BY-NC-ND.

关键词： Frequency domain analysis

Nonlinear Bayesian Identification for Motor Commutation: Applied to Switched Reluctance Motors

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Nonlinear Bayesian Identification for Motor Commutation: App...

IEEE Conference on Decision and control

作者： Max van Meer Rodrigo A. González Gert Witvoet Tom Oomen Department of Mechanical Engineering Control Systems Technology section Eindhoven University of Technology The Netherlands Department of Optomechatronics TNO Delft The Netherlands Delft Center for Systems and Control Delft University of Technology Delft The Netherlands

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Experimental Comparison of H-Infinity Synthesis and Feedback Linearization on a MIMO Gimbal Example

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Experimental Comparison of H-Infinity Synthesis and Feedback...

control Technology and Applications (CCTA),

作者： Mert Özçelik Burak Kürkçü Zeki Yağız Bayraktaroğlu Control Systems Design Department Aselsan Inc. Ankara Turkey Department of Mechanical Engineering University of California Berkeley CA USA Department of Computer Engineering Hacettepe University Ankara Turkey Department of Mechanical Engineering Istanbul Technical University Istanbul Turkey

This study investigates the controller types and effects of the design techniques on gimbal stabilization. Since implementing the controllers and determining the system’s robustness is straightforward, the frequency domain design approaches are widely used with linear controllers in electro-optical inertial stabilized systems. Besides, the required system models can be obtained from experimental data easily. Nevertheless, the system model could change in the operational conditions. Therefore, nonlinear controllers are needed in this situation. In this investigation, we obtained a proper system model using system identification methods to design a mixed-sensitivity H ∞ controller. Then, we proposed an input-output feedback linearization controller with a linear quadratic regulator (LQR) based state feedback controller design to stabilize the 2 degrees of freedom (DOF) gimbal. Finally, we compared these two controllers regarding reference tracking, sensitivity function, and disturbance rejection performances on the experimental setup under 6 DOF disturbance profiles.

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The Safety Shell: An Architecture to Handle Functional Insufficiencies in Automated Driving

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arXiv 2023年

作者： Hanselaar, Caspar A.J. Silvas, E. Terechko, A. Heemels, W.P.M.H. Department of Mechanical Engineering Control Systems Technology Section Eindhoven University of Technology P.O. Box 513 Eindhoven5600 MB Netherlands

To enable highly automated vehicles where the driver is no longer a safety backup, the vehicle must deal with various Functional Insufficiencies (FIs). Thus-far, there is no widely accepted functional architecture that maximizes the availability of autonomy and ensures safety in complex vehicle operational design domains. In this paper, we present a survey of existing methods that strive to prevent or handle FIs. We observe that current design-time methods of preventing FIs lack completeness guarantees. Complementary solutions for on-line handling cannot suitably increase safety without seriously impacting availability of journey continuing autonomous functionality. To fill this gap, we propose the Safety Shell, a scalable multi-channel architecture and arbitration design, built upon preexisting functional safety redundant channel architectures. We compare this novel approach to existing architectures using numerical case studies. The results show that the Safety Shell architecture allows the automated vehicle to be as safe or safer compared to alternatives, while simultaneously improving availability of vehicle autonomy, thereby increasing the possible coverage of on-line functional insufficiency handling. © 2023, CC BY.

关键词： Vehicles

PIEZOELECTRIC SHUNT DAMPING IN CRYOGENIC CONDITIONS: APPLICATION TO A FLEXURE-BASED MECHANISM 36

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PIEZOELECTRIC SHUNT DAMPING IN CRYOGENIC CONDITIONS: APPLICA...

36th Annual Meeting of the American Society for Precision engineering, ASPE 2021

作者： Ambaum, N. Vermeulen, J.P.M.B. Mokrani, B. Department of Mechanical Engineering Control Systems Technology group – Mechatronic Systems Design Eindhoven University of Technology Eindhoven Netherlands Mechatronics Department ASML Netherlands Veldhoven Netherlands

Identification of Additive Continuous-time systems in Open and Closed Loop

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arXiv 2024年

作者： González, Rodrigo A. Classens, Koen Rojas, Cristian R. Welsh, James S. Oomen, Tom Control Systems Technology Section Department of Mechanical Engineering Eindhoven University of Technology Eindhoven Netherlands Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm10044 Sweden School of Engineering University of Newcastle Callaghan2308 NSW Australia Delft Center for Systems and Control Delft University of Technology Delft Netherlands

When identifying electrical, mechanical, or biological systems, parametric continuous-time identification methods can lead to interpretable and parsimonious models when the model structure aligns with the physical properties of the system. Traditional linear system identification may not consider the most parsimonious model when relying solely on unfactored transfer functions, which typically result from standard direct approaches. This paper presents a novel identification method that delivers additive models for both open and closed-loop setups. The estimators that are derived are shown to be generically consistent, and can admit the identification of marginally stable additive systems. Numerical simulations show the efficacy of the proposed approach, and its performance in identifying a modal representation of a flexible beam is verified using experimental data. © 2024, CC BY-NC-ND.

关键词： Continuous time systems

Accelerating soft-constrained MPC for linear systems through online constraint removal

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arXiv 2024年

作者： Nouwens, S.A.N. Paulides, M.M. Heemels, W.P.M.H. Control Systems Technology Section Department of Mechanical Engineering Eindhoven University of Technology Eindhoven Netherlands Department of Electrical Engineering Eindhoven University of Technology Eindhoven Netherlands Department of Radiotherapy Erasmus University Medical Center Cancer Institute Rotterdam Netherlands

Optimization-based controllers, such as Model Predictive control (MPC), have attracted significant research interest due to their intuitive concept, constraint handling capabilities, and natural application to multi-input multi-output systems. However, the computational complexity of solving a receding horizon problem at each time step remains a challenge for the deployment of MPC. This is particularly the case for systems constrained by many inequalities. Recently, we introduced the concept of constraint-adaptive MPC (ca-MPC) to address this challenge for linear systems with hard constraints. In ca-MPC, at each time step, a subset of the constraints is removed from the optimization problem, thereby accelerating the optimization procedure, while resulting in identical closed-loop behavior. The present paper extends this framework to soft-constrained MPC by detecting and removing constraints based on sub-optimal predicted input sequences, which is rather easy for soft-constrained MPC due to the receding horizon principle and the inclusion of slack variables. We will translate these new ideas explicitly to an offset-free output tracking problem. The effectiveness of these ideas is demonstrated on a two-dimensional thermal transport model, showing a three order of magnitude improvement in online computational time of the MPC scheme. © 2024, CC BY-NC-ND.

关键词： Predictive control systems

Acoustic Characteristics of Motorbike Horn Sound in Congested Road Traffic

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SSRN

SSRN 2023年

作者： Nguyen, Thulan Nishimura, Yuya Nishimura, Sohei Department of Architectural Design Shimane University Shimane Japan Department of Control and Information Systems Engineering Kumamoto National College of Technology Kumamoto Japan Department of Mechanical and Intelligent Systems Engineering Kumamoto National College of Technology Kumamoto Japan

Road traffic noise is a pervasive issue in urban areas worldwide, influencing transportation planning and environmental management. Developing countries in Asia, characterized by rapid economic growth, face escalating environmental challenges, including traffic noise generated by motorcycles. In these nations, inadequate public transportation infrastructure has made motorcycles the predominant mode of travel. This study investigates the unique acoustic characteristics of motorcycle horns in the context of congested roads in Vietnam. Through extensive field research, this study identifies distinct horn patterns, categorized as "attention" and "warning" signals, employed by motorcyclists to navigate challenging traffic conditions. Notably, these patterns result in horn sound levels 13-17 decibels higher than traditional single honks, impacting road safety and noise pollution. Analysis of the acoustic properties of each horn pattern reveals significant variations in low-frequency and high-frequency components. Understanding these acoustic distinctions is vital for addressing road safety concerns and mitigating noise pollution. The research revealed the disparity between current motorcycle horn regulations in Vietnam and the country's unique traffic environment. Narrow roads and high congestion necessitate a reevaluation of these regulations to align with Vietnam's specific needs. © 2023, The Authors. All rights reserved.

关键词： Roads and streets