OBJECTIVE This paper introduces a robust, real-time system for detecting driver lane changes. BACKGROUND As intelligent transportation systems evolve to assist drivers in their intended behaviors, the systems have demonstrated a need for methods of inferring driver intentions and detecting intended maneuvers. METHOD Using a "model tracing" methodology, our system simulates a set of possible...

The paper presents a systematic analysis of drivers’ crash avoidance response during crashes and near-crashes developed machine learning-based predictive model that can determine driver maneuver using pre-incident behavior driving context. We analyzed 286 naturalistic rear-end from the SHRP2 study. All events were manually reduced face video (face forward) kinematic responses. In this paper, we...

The AVHS architecture of the California PATH program organizes traffic into platoons of closely spaced vehicles. Platoons are formed and broken up by two longitudinal control maneuvers, merge and split. A third longitudinal maneuver, decelerate to change lanes, allows a platoon switching from one lane to another to enter its new lane at a safe spacing and speed. This paper presents a robust con...

A robust and high-performance lateral control system is necessary for autonomous bus driving in complex downtown roads. In this paper, a Sliding Mode (SM) controller with an uncertainty observer proposed to reduce the chattering phenomenon while ensuring robustness maintaining performance. stiffness gain introduced cornering of rear wheels compensate model external disturbance. For lane keeping...

This thesis presents a tool for efficient query and analysis of MPEG encoded video. The image sequences for the video are obtained via a vehicle-mounted forward-looking camera. The tool accepts queries that signify both temporal and geometric events as the vehicle traverses common roadways, such as " identify portions of the video where the vehicle is making a lane change maneuver, " or " ident...

This article presents a concept for a possible implementation of the H-Mode (horse metaphor) concept in a test vehicle where the driver and the automation are simultaneously involved in the control loop of the driving task following the idea of shared control. Consequently, the driving task is executed as a cooperative collaboration between driver and automation. The developed concept is mainly...

The paper presents a global chassis control (GCC) optimization approach using a gradient-based optimal control algorithm. The goal is to find optimal actions of various actuators such as active steering and active differential, which ensure satisfying the optimization criterion (e.g. trajectory following error minimization) subject to different equality and inequality constraints on state and c...

This paper is concerned with the planning of optimal trajectories for vehicle collision avoidance with a Timed Elastic Band (TEB) framework. The avoidance trajectory is represented by a TEB which is optimized with respect to multiple partially conflicting objectives. The resulting trajectory constitutes the optimal compromise between a mere braking and a lane change maneuver that avoids the col...