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1970s: Robert Fenton
• Longitudinal car-following control using take-
up reel as a stand-in for nonexistent sensors.
• Lateral control and platooning using leaky
antenna cables.
• RADAR sensor development.
• Feedback to driver through actuated joystick.
• All implemented on analog computers
and early microcontroller systems.
ROBERT FENTON’S EARLY OSU WORK
1996-1997: Image processing based lane
tracking and lateral control (WRC)
1996-1997: RADAR reflective stripe lane
tracking and lateral control (VDA)
1997: NAHSC (San Diego) demonstration
prep (Skidpad)- RADAR stripe based lane
change and passing maneuvers
1999: Electronic Tow Bar- image based
vehicle following and convoying (lateral
and longitudinal control)
CITR: THE NEXT GENERATION
AUTONOMOUS DRIVING AT OHIO STATE
Autonomous Driving Areas• Lane tracking
• Car following
• Intersections, traffic circles
• Passing
• Obstacle avoidance
• Parking
• Dynamic route planning
ACT 2007
Demo 1997TerraMax 2004 ION 2005
DARPA URBAN CHALLENGE (2007)
T-junction (Area A) in DARPA Urban Challenge
▪ Fully autonomous driving in a city environment with other vehicles.
▪ Conditions in T-junction (area A)
- Blue and green lines are the path for human drivers, red line is for autonomous
driving vehicle.
- Human drivers passing the junction without stop or adjusting their speed.
- ACT needs to measure the speed of passing cars and find an appropriate gap.
▪ OSU-ACT Area A Qualifier
[Area A of the DARPA Urban Challenge]
DARPA URBAN CHALLENGE (2007)
Design of situations
▪ Implement the Meta-State (sub-states + FSM)
Hybrid State System (OSU-ACT Controller)
▪ Vehicle controller for OSU-ACT consists of a Low-level Controller (LC) and a High-level Controller (HC).
▪ HC is for the conscious-level decisions (e.g., lane-change)
▪ LC is for the subconscious control of steering and throttle/brake.
▪ 𝛹,𝛷, and 𝛤are events generated by HC, LC, and the sensing and analysis system respectively.
Desired paths
feedback
Steering, velocity
Desired paths
(position, velocity)
Threshold check
Command completion
[ Meta-state connections ]
SCALED-DOWN TESTBED ARCHITECTURE
FOR URBAN SCENARIOS (2014-16)
Characteristics
▪ Scale 1/7
▪ Scaled down sensors or virtual sensors
▪ Virtual GPS module and camera
system.
▪ Wireless 802.11b interface for
communication.
▪ Limitations are added by software.
Hybrid-State System
High level
control
Finite State
Machine
Low level
control
PID-based
continuous
controller
[2] Ozbilgin, G., Kurt, A., & Ozguner, U. (2014, June). Using
scaled down testing to improve full scale intelligent
transportation. In Intelligent Vehicles Symposium
Proceedings, 2014 IEEE (pp. 655-660). IEEE.
Implemented application example:
Lane Change Scenario
▪ Mixed traffic environment.
▪ Beneficial for V2V equipped cars
without perception.
▪ Different wireless information sharing
strategies implemented.
SCALED-DOWN TESTBED ARCHITECTURE
FOR URBAN SCENARIOS (2014-16)
[3] Adamey, E., Ozbilgin, G., & Ozguner, U. (2015). Collaborative
vehicle tracking in mixed-traffic environments: Scaled-down tests
using simville (No. 2015-01-0282). SAE Technical Paper.
[4] Ozbilgin, G., Ozguner, U., Altintas, O., Kremo, H., & Maroli, J.
(2016, June). Evaluating the requirements of communicating
vehicles in collaborative automated driving. In Intelligent Vehicles
Symposium (IV), 2016 IEEE (pp. 1066-1071). IEEE.
DEVELOPMENT OF STANDARD LDW/LDP
TESTS AND EVALUATION METHODS (2014)
Impact (2004 data, ~6M incidents)
[5] Kurt, A., Özbilgin, G., Redmill, K. A., Sherony, R., & Özgüner, Ü. (2015). Test Scenarios, Equipment and Testing
Process for LDW LDP Performance Evaluation (No. 2015-01-1404). SAE Technical Paper.
Driver data analysis, driver behavior analysis
▪ Crash databases
▪ Investigating departure scenarios
Simulator studies for data collection
▪ Test procedure design
▪ Identifying important data fields
Test scenario selection
▪ Prioritizing the test matrix
Test/Evaluation procedure development
▪ Driving simulator for procedure design
▪ Vehicle instrumentation for data collection
Vehicle Evaluation
▪ At Transportation Research Center
▪ Two vehicles, roughly five days of testing with each
• Autonomous and semi-autonomous scenarios are being explored.
• Exploring information requirements for inter-vehicle communication
to provide safe and smooth operation.
• Exploring platoon/convoy configuration and control.
• Experimental testing done at OSU
COLLABORATIVE LANE CHANGE/MERGE
(RENAULT/CAR CONSORTIUM)
Lane Change Trajectory Prediction (2014)
• Use the front view camera to predict nearby vehicle’s intension of lane change,
and the future vehicle trace of marge-in maneuver.
• Real driving data: 210 normal lane change instances from SHARP2, and 140
dangerous instances from 100Car near-crash data
[6] Liu, P., & Kurt, A. (2014, October). Trajectory prediction of a lane changing vehicle based on driver behavior
estimation and classification. In Intelligent Transportation Systems (ITSC), 2014 IEEE 17th International Conference.
COLLABORATIVE LANE CHANGE/MERGE
Convoy Control with a Cut-in Vehicle (2015)
• Control of a CACC convoy for nearby vehicle’s cut-in maneuver.
• The convoy host vehicle predicts a vehicle’s lane change behavior, calculates
control of each convoy member, and assigns control by V2V.
• Optimal control is calculated to minimize speed deviation and headway
fluctuation, benefiting fuel economy, traffic capacity, and spacing safety.
[7] Liu, P., & Özgüner, Ü. (2015, July). Predictive control of a vehicle convoy considering lane change behavior of
the preceding vehicle. In American Control Conference (ACC), 2015 (pp. 4374-4379). IEEE.
COLLABORATIVE LANE CHANGE/MERGE
Distributed MPC for Flexible Vehicle Platooning (2016-17)
• Control method for cooperative vehicle platooning in automated highway systems,
allowing new vehicle’s merging-in for flexible convoying.
• A decentralized MPC method partitions the convoy into clusters, and solves the
control problem of accepting new vehicle in a non-iterative way based on V2V.
• The control method is proven to
guarantee convoy string stability
and collision-free safety.
[8] Liu, P., & Ozguner, U. (2017, May). Non-iterative distributed model predictive control for flexible vehicle
platooning of connected vehicles. In American Control Conference (ACC), 2017 (pp. 4977-4982). IEEE.
[9] Liu, P., Kurt, A., & Ozguner, U. (2018). Distributed Model Predictive Control for Cooperative and Flexible Vehicle
Platooning. IEEE Transactions on Control Systems Technology.
COLLABORATIVE LANE CHANGE/MERGE
OTHER WORK
SMOOTH Smart Mobile
Operation: OSU Transportation Hub
Most people live or work far
from a transportation stop. Network of “On-
demand automated
vehicles”Transportation stops not
close to points of interest.
DURA Automotive Automated Valet (2015-2016)
• Fully autonomous navigation in parking lot
• Automated head-in, tail-in and parallel parking.
• Vehicle DBW conversion, path planning, sensor-based localization, vehicle control.
Partial Automation and V2X
• Using a longitudinally-automated vehicle to demonstrate V2X potentials.
• Intelligent traffic light passing for fuel economy.
• Automated decision on intersection precedence at stop signs for safety.
Ongoing Work
Driving
Characteristic
or
Driving style
Driving
Events
Environ-
mental
Conditions
Goal of
Driving
Events
𝐹𝑆𝑀 & 𝐸𝑀
Traffic
conditions
[10] Jing, J., Kurt, A., Ozatay, E., Michelini, J., Filev, D., & Ozguner, U. (2015). Vehicle Speed Prediction in a Convoy
Using V2V Communication. ITSC, 2015–Octob, 2861–2868. https://doi.org/10.1109/ITSC.2015.460
Driver Intention Prediction for Car-following and Lane Change
▪ Analyze the driving patterns by using real-traffic data (US-DoT NGSIM traffic data).
▪ Determine the type of driver and pattern of maneuvers.
▪ Investigating a hybrid model to detect the intention and predict the future state:
- Estimation of a deterministic driver model + Training of a probabilistic model.
Ongoing Work
Autonomous Parking & Docking of Tractor-Trailer Vehicles
▪ A control-oriented model and a physical based model.
▪ Three path tracking control methods by PI, Sliding Mode, and Neural Network.
▪ A generic jackknife accident prevention system for all path tracking controllers.
▪ A decomposed method by Markov Reward search and QP optimization.
▪ Team collaboration results: 2 papers and 1 patent application, all within 6 months.