Thèses sur le sujet « Autonomous and connected vehicles »
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Wei, Jian. « Hybrid mobile computing for connected autonomous vehicles ». Thesis, Aston University, 2018. http://publications.aston.ac.uk/37533/.
Texte intégralAnantharaman, Gokul Arvind. « Cooperative Collision Avoidance for Connected and Autonomous Vehicles ». The Ohio State University, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=osu1543424841946961.
Texte intégralGarro, Alexandra. « Connected Vehicle Co-Simulation for Autonomous Vehicles in Airsim using Ns-3 ». DigitalCommons@CalPoly, 2021. https://digitalcommons.calpoly.edu/theses/2332.
Texte intégralObenauf, Austin William. « CONNECTED AND AUTONOMOUS VEHICLES EFFECTS ON EMERGENCY RESPONSE TIMES ». UKnowledge, 2019. https://uknowledge.uky.edu/ce_etds/84.
Texte intégralSridhar, Srivatsan. « Cooperative Perception in Autonomous Ground Vehicles using a Mobile Robot Testbed ». Thesis, Virginia Tech, 2017. http://hdl.handle.net/10919/88742.
Texte intégralMS
Tamilarasan, Santhosh. « Use of Connected Vehicle Technology for Improving Fuel Economy and Driveability of Autonomous Vehicles ». The Ohio State University, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=osu1543787677995516.
Texte intégralDabboussi, Abdallah. « Dependability approaches for mobile environment : Application on connected autonomous vehicles ». Thesis, Bourgogne Franche-Comté, 2019. http://www.theses.fr/2019UBFCA029.
Texte intégralConnected and Autonomous vehicles (CAV) must have adequate reliability and safety requirements in uncertain environments with complex circumstances. Sensor technology, actuators and artificial intelligence (AI) are constantly and rapidly evolving, thus enabling further development of self-driving vehicles, and increasing the automation of driving. CAV shows many benefits in human life such as increasing road safety, reducing pollution, and providing independent mobility to non-drivers. However, these advanced components create a new set of challenges concerning safety and dependability. Hence, it is necessary to evaluate these technologies before implementation.We study in this thesis the reliability of CAV as a whole, focusing on sensors and the communication system. For that purpose, a functional analysis was done for the CAV system.Our scientific approach for the analyzing the CAV reliability, was structured with methods that combine quantitative and qualitative approaches such as functional analysis for both internal and external, Preliminary Risk Analysis (PRA), and failure modes and effects criticality analysis (FMECA), in addition to other analysis techniques.To prove our results, a simulation was done using the Fault Tree analysis (FTA) probability in order to validate the proposed approach. The data (Failure ratio) used were from a professional database related to the type of components presented in the system. Using this data, a probabilistic model of degradation was proposed. A probability calculation was performed in relation to a reference time of use. Thereafter a sensitivity analysis was suggested concerning the reliability parameters and redesign proposals developed for the components.CAV provide several communication models: vehicles to vehicle (V2V), or with Road Side Infrastructure: vehicle to infrastructure (V2I). Dedicated Short Range Communication (DSRC) employs a multichannel approach to cater for a variety of safety and non-safety applications. Safety applications necessitate appropriate and reliable transmissions, while non-safety applications require performance and high speed. Broadcasting of Basic Safety Messages (BSM) is one of the fundamental services in today’s connected vehicles. For that, an analytical model to evaluate the reliability of IEEE 802.11 based V2V safety-related broadcast services in DSRC system on highway was proposed. Finally, an enhancement on the proposed model was made in order to increase the reliability of the V2V connection, taking into consideration many factors such as transmission range, vehicle density, and safety headway distance on highway, packet error rate, noise influence, and failures rates of communication equipment.Evaluating these problems leads to a sensitivity analysis related to reliability parameters, which helps further innovation in CAV and automobile engineering
Zeng, Tengchan. « Joint Communication, Control, and Learning for Connected and Autonomous Vehicles ». Diss., Virginia Tech, 2021. http://hdl.handle.net/10919/104216.
Texte intégralDoctor of Philosophy
The evolution of transportation systems has always been the key to the progress of human societies. Recently, technology advances in sensing, autonomy, computing, and wireless connectivity ushered in the era of connected and autonomous vehicles (CAVs). In essence, CAVs rely on the data collected from sensors and wireless communication systems to automatically make the operation decision. If designed properly, the deployment of CAVs can improve the safety and the driving experience, increase the fuel efficiency and road capacity, as well as provide various services ranging from delivery of goods to monitoring. To reap all these benefits of deploying CAVs, one must address a number of technique challenges related to the wireless connectivity, autonomy, and autonomous learning for CAV systems. In particular, for CAV connectivity, the challenges include building a low latency and highly reliable network, using proper models for mobile radio channels, and determining the effective content dissemination strategy. At the control level, key considerations include guaranteeing stability and robustness for the controller when faced with measurement errors and wireless imperfections and rapidly adapting the CAV to dynamic environments. Meanwhile, when CAVs use machine learning to complete their tasks (e.g., object detection and environment monitoring), insufficient training data, privacy concerns, communication overhead, and limited energy are among the main challenges. Therefore, this dissertation develops the foundational science needed to design, analyze, and optimize CAVs while jointly taking into account the challenges within the wireless network, controller, and leaning mechanism design. To this end, various frameworks for the joint communication, control, and learning design and wireless network optimizations are proposed for different CAV applications. The results show that, using the proposed frameworks, the performance of CAVs can be optimized with more reliable communication systems, more stable controller, and improved learning mechanism, enabling intelligent transportation systems for the future smart cities.
Ghiasi, Amir. « Connected Autonomous Vehicles : Capacity Analysis, Trajectory Optimization, and Speed Harmonization ». Scholar Commons, 2018. https://scholarcommons.usf.edu/etd/7295.
Texte intégralAlhuttaitawi, Saif. « Intersection coordination for Autonomous Vehicles ». Thesis, Malmö universitet, Fakulteten för teknik och samhälle (TS), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:mau:diva-20936.
Texte intégralChen, Qi. « Cooperative Perception for Connected Autonomous Vehicle Edge Computing System ». Thesis, University of North Texas, 2020. https://digital.library.unt.edu/ark:/67531/metadc1707376/.
Texte intégralShaikh, Palwasha Waheed. « Intelligent Infrastructures for Charging Reservation and Trip Planning of Connected Autonomous Electric Vehicles ». Thesis, Université d'Ottawa / University of Ottawa, 2021. http://hdl.handle.net/10393/42735.
Texte intégralLause, Federico Valentin III. « Adapting Crash Modification Factors for the Connected and Autonomous Vehicle Environment ». UKnowledge, 2019. https://uknowledge.uky.edu/ce_etds/90.
Texte intégralFakharian, Qom Somaye. « Multi-Resolution Modeling of Managed Lanes with Consideration of Autonomous/Connected Vehicles ». FIU Digital Commons, 2016. http://digitalcommons.fiu.edu/etd/2559.
Texte intégralAdler, Martin, Stefanie Peer et Tanja Sinozic. « Autonomous, connected, electric shared vehicles (ACES) and public finance : An explorative analysis ». Elsevier, 2019. http://epub.wu.ac.at/7200/1/main.pdf.
Texte intégralMcManus, Ian Patrick. « The Impact of Cyberattacks on Safe and Efficient Operations of Connected and Autonomous Vehicles ». Thesis, Virginia Tech, 2021. http://hdl.handle.net/10919/104891.
Texte intégralMaster of Science
The landscape of transportation is quickly shifting as transportation technologies continue to increase in intelligence and complexity. The transportation industry is shifting its focus to Connected and Autonomous Vehicles (CAVs). The move to more autonomous and intelligent transportation systems brings with it a promise of increased transportation equity, efficiency, and safety. However, one aspect that is often overlooked in this shift is cybersecurity. As intelligent systems and vehicles have been introduced, a large amount of research has been conducted showing cyber vulnerabilities in them. With a new connected transportation system emerging, a multidisciplinary approach will be required to prevent and handle attacks. Ensuring protection against cyberattacks is a key objective moving forward. The first step to developing this system is understanding how different cyberattacks can negatively impact the operations of the transportation system. This research aimed to measure the safety and efficiency impacts of an attack on the transportation network. To do so, a simulation was developed to model an intelligent urban road network. Vehicles made reservations at each intersection they passed – effectively simulating an autonomous vehicle network. Denial of Service (DoS) and Man in the Middle (MITM) attacks were simulated by dropping, and delaying vehicle's intersection reservation requests, respectively. These cyberattacks were modeled with varying degrees of severity to test the different impacts on the transportation network. Analysis showed that severe attacks can have significant impact on the transportation network's operations. The worst-case scenario for each attack introduced an over 20% increase in delay per vehicle. The simulation showed also that increasing the number of attacked intersections directly related to decreased safety and operational efficiency. Successful attacks also produced a high level of variance in their impact. One other key finding was that a single compromised RSU had very limited impact on the transportation network. These findings highlight the importance of developing security and resilience in a connected vehicle environment. Building a transportation network that can respond to an initial attack and prevent it from impacting the entire network is crucial in limiting the negative effects of the attack. If proper resilience planning is not implemented for CAVs, hackers could cause great harm to safety and efficiency with relative ease. The next generation of vehicular transportation must be able to withstand cyberattacks to function. Understanding their impact is a key first step for engineers and planners on the long road to ensuring a secure transportation network.
Brasier, Richard. « Efficient autonomy : Identifying energy efficiency opportunities with the introduction of autonomous and connected vehicles ». Thesis, Brasier, Richard (2015) Efficient autonomy : Identifying energy efficiency opportunities with the introduction of autonomous and connected vehicles. Other thesis, Murdoch University, 2015. https://researchrepository.murdoch.edu.au/id/eprint/30759/.
Texte intégralBouchouia, Mohammed. « Multi layered Misbehavior Detection for a connected and autonomous vehicle ». Electronic Thesis or Diss., Institut polytechnique de Paris, 2023. http://www.theses.fr/2023IPPAT018.
Texte intégralIn recent years, the vehicular field has undergone significant advancements with the development of autonomous vehicles and smart cities. These advancements have brought about a modernization of human life, where everything is interconnected - from individuals through smartphones to infrastructure, cars, and motorcycles. In such a system, information is exchanged and processed, and used to ensure the proper functioning of all entities. However, the increased reliance on V2X communication also makes it a target for security attacks, which could lead to the dissemination of false or manipulated information from malicious sources. This could pose a threat to the proper functioning of the system and can potentially result in accidents. To address this problem, it is crucial to validate and verify the communication to ensure its accuracy and prevent malicious attacks. We aim to formulate misbehavior and misbehavior detection for connected and autonomous vehicles of level 4/5 automation. In our thesis, we propose a multi-layered architecture for the detection of abnormal behaviors with automatic learning to secure the connected and autonomous vehicles' communications, sensors, and internal components. The architecture allows us to propose a novel reinforcement learning based neural architecture for the detection of misbehaviors where we showed in a simulated environment, through evaluation, that the model is capable of detecting novel misbehaviors and performs better than current state-of-the-art algorithms. Furthermore, we tackle data leakage in V2X data and propose a cross-validation method to avoid said leakage in machine learning applications. We also developed a simulation for vehicular environments capable of injecting and detecting misbehaviors for the evaluation of our thesis results. The ideas developed in this research have resulted in several publications and have the potential to significantly enhance the security and reliability of vehicular systems
Rahimi, Tariq Rahim. « Potential Impacts of Connected Vehicles in Urban Traffic : A Case Study ». University of Toledo / OhioLINK, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=toledo1525457750006016.
Texte intégralLoulou, Hassan. « Verifying Design Properties at Runtime Using an MDE-Based Approach Models @Run.Time Verification-Application to Autonomous Connected Vehicles ». Thesis, Université Paris-Saclay (ComUE), 2017. http://www.theses.fr/2017SACLS405.
Texte intégralAutonomous Connected Vehicles (ACVs) are Cyber-physical systems (CPS) where the computationalworld and the real one meet. These systems require a rigorous validation processthat starts at design phase and continues after the software deployment. Models@Runtimehas appeared as a new paradigm for continuously monitoring software systems execution inorder to enable adaptations whenever a change, a failure or a bug is introduced in the executionenvironment. In this thesis, we are going to tackle ACVs environment where vehicles tries tocollaborate and share their data in a secure manner.Different modeling approaches are already used for expressing access control requirementsin order to impose security policies. However, their validation tools do not consider the impactsof the interaction between the functional and the security requirements. This interaction canlead to unexpected security breaches during the system execution and its potential runtimeadaptations. Also, the real-time prediction of traffic states using crowd sourcing data could beuseful for proposition adaptations to AVCs cooperation models. Nevertheless, it has not beensufficiently studied yet. To overcome these limitations, many issues should be addressed:• The evolution of the system functional part must be considered during the validation ofthe security policy and attack scenarios must be generated automatically.• An approach for designing and automatically detecting security anti-patterns might bedeveloped. Furthermore, new reconfigurations for access control policies also must befound, validated and deployed efficiently at runtime.• ACVs need to observe and analyze their complex environment, containing big-datastreams to recommend new cooperation models, in near real-time.In this thesis, we build an approach for sensing the ACVs environment, validating its accesscontrol models and securely reconfiguring it on the fly. We cover three aspects:• We propose an approach for guiding security models checkers to find the attack scenariosat design time automatically.• We design anti-patterns to guide the validation process. Then, we develop an algorithmto detect them automatically during models reconfigurations. Also, we design a mechanismfor reconfiguring the access control model and we develop a lightweight modularframework for an efficient deployment of new reconfigurations.• We build an approach for the real-time monitoring of dynamic data streams to proposeadaptations for the access policy at runtime.Our proposed approach was validated using several examples related o ACVs. the results ofour experimentations prove the feasibility of this approach
Lakshmanan, Vinith Kumar. « Cooperative control of eco-driving trajectories for a fleet of electric connected and autonomous vehicles ». Electronic Thesis or Diss., université Paris-Saclay, 2023. http://www.theses.fr/2023UPAST068.
Texte intégralElectric Connected and Autonomous Vehicles (CAVs) that maximize energy efficiency can be considered an integrated approach to meet the various trends, mainly green and digital transition, in the automotive industry. Energy-saving strategies for CAVs on the vehicle level can be categorized into Eco-Routing (ER) and Eco-Driving (ED). With increased penetration of CAVs, such vehicles can cooperate rather than compete for right of way, giving rise to Cooperative Connected and Automated Vehicles (CCAVs). Based on the level of information shared and the motivation for energy efficiency, the behavior of CCAVs can be categorized into Non-Cooperative (NC), Cooperative (C), and Centralized Cooperative (CC) ED strategies. Each CCAV optimizes for itself in NC-ED and shares only its instantaneous states with its neighbors, while in C-ED, it shares its future intentions. Each CCAV's control action optimizes for the entire group in the CC-ED.The main objectives of this thesis are to experimentally assess a known baseline NC-ED strategy for a single CAV; to obtain analytical eco-driving solutions for a fleet of electric CCAVs, with varying levels of cooperation, for platooning and un-signalized intersection scenarios; and to evaluate the influence of the varying levels of cooperation, namely, NC-ED, C-ED, and CC-ED, on fleet energy consumption. The thesis first introduces a known NC-ED strategy for a single CAV that forms the basis for this thesis. ED is formulated as an optimal control problem for an unconstrained and car-following scenario and solved using Pontryagin's Minimum Principle (PMP). The baseline NC-ED car-following strategy predicts the lead vehicle's motion under Constant Acceleration (CA) to facilitate analytical closed-form solutions. In a chapter of this thesis, more sophisticated lead vehicle prediction models, namely Constant Acceleration-Average Braking (CA-AB) and EDM-LOS based Predictor (EDM-LOSP), are developed in the absence of V2V communication. The results distinguished the performance of the predictors in urban routes, where the ego vehicle using EDM-LOSP performed better than CA-AB with 4 % energy gain, while CA-AB had 4.5 % over the baseline CA. The baseline NC-ED car-following scenario is extended to a platooning ED scenario. An OCP is formulated for the three levels of cooperation, and analytical solutions are obtained using PMP. Platoons with the three cooperative strategies are evaluated against a baseline using Adaptive Cruise Control in a simulation environment. The results indicate higher energy saving with increased levels of cooperation. The CC-ED platoon performed best with 2.5 % energy saving over the NC-ED platoon on a WLTC High cycle. This thesis further presents an OCP formulated for a set of CCAVs safely crossing an un-signalized intersection while minimizing energy consumption. The OCP is formulated for two levels of cooperation: NC-ED and C-ED. The conflicts that arise in an intersection are analyzed and transformed into constraints. The OCP with the constraints is solved using PMP, and analytical solutions are presented. The two strategies are evaluated against Intelligent Driver Model (IDM) as a baseline for various flow rates. The results indicate that C-ED performs best, with 23.7 % energy gains over IDM. Finally, this thesis presents an experimental implementation of the baseline NC-ED strategy in a Renault Zoe electric car. The ED solutions are implemented via a tablet, that displays the computed optimal speed for the driver to follow in the next second. The implementation of the algorithm consists of two parts: an ED speed profile predicted at the trip's start under certain assumptions and an ED speed profile computed in real-time advising the driver. In this work, the driven profiles are analyzed a posteriori to study the impact of the assumptions made at the start of a trip. The results indicate the importance of having accurate information on traffic and traffic light behavior
Almobayedh, Hamad Bader. « Simulation of the Impact of Connected and Automated Vehicles at a Signalized Intersection ». University of Dayton / OhioLINK, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1557207826602638.
Texte intégralNarasimhan, Ramakrishnan Akshra. « Design and Evaluation of Perception System Algorithms for Semi-Autonomous Vehicles ». The Ohio State University, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=osu1595256912692618.
Texte intégralHe, Mingzhe, et Xinyu Lin. « Connected Tyres : Real-time Tyre Monitoring System for Fleet& ; Autonomous Vehicles with Tyre WearEstimation through Sensor Fusion ». Thesis, KTH, Fordonsdynamik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-290080.
Texte intégralDäck är en viktig del för fordon, eftersom de är den enda kontaktpunktenmellan fordonet och vägen. Intelligenta däck är ett trendigt nytt ämne i däckindustrin.De är utformade för att övervaka olika däcktillstånd och skicka dennainformation till både förare och fjärrservrar. Examensarbetet är inriktat på ettförslag till ett däckövervakningssystem i realtid för fordonsflottor och autonomafordon och inkluderar en däckslitagesmodell och anslutning. Det inkluderaratt utveckla en slitagemodell och analys av den aktuella däcktrycksövervakningsfunktionengenom att studera Volvos fordonspark som är utrustade medVolvos webbmolntjänst. Däckens slitagemodell övervakar indirekt slitbanedjupetpå alla fyra däck genom att identifiera egenskaper mellan slitna och nyadäck. De två egenskaperna identifieras genom att övervaka och analysera fordonshastighet och bromssignaler. De två egenskaperna är inmatade i ett röstningsschemasom avgör när ett slitet däck upptäcks. Testfordonet var en VolvoXC40 med tre typer av däck, vinterdäck samt nya och slitna sommardäck.Modellen ger 90 % noggrannhet för 10 uppsättningar testdata, slumpmässigtvalda från alla dataset på Hällered provbana (Sverige). Anslutningen genomfördataöverföringen av rådata från onCAN och FlexRay-signaler lagrade ienVolvoswebbmolntjänst till däcksövervakningssystemet. Signalerna filtrerasoch samplas på nytt för att skapa de nödvändiga signalerna till däcktrycksövervakningssystemetoch däckslitagemodellen. Två signaler, kalibreringsstatusoch iTPMS-status, används för att utföra en statistisk analys av däcktrycketgenom att kategorisera kalibreringsstatus och däcktrycksförhållanden. Projektetsresultat är ett gränssnitt byggt på MATLAB GUI för demonstration avfordonsidentifiering och däcktillstånd. med inbäddad däckslitagemodell ochanslutning.
Kherroubi, Zine el abidine. « Novel off-board decision-making strategy for connected and autonomous vehicles (Use case highway : on-ramp merging) ». Thesis, Lyon, 2020. http://www.theses.fr/2020LYSE1331.
Texte intégralMerging in the highway on-ramp is a significant challenge toward realizing fully automated driving (level 4 of autonomous driving). The combination of communication technology and autonomous driving technology, which underpins the notion of Connected Autonomous Vehicles (CAVs), may improve greatly safety performances when performing highway on-ramp merging. However, even with the emergence of CAVs vehicles, some keys constraints should be considered to achieve a safe on-ramp merging. First, human-driven vehicles will still be present on the road, and it may take decades before all the commercialized vehicles will be fully autonomous and connected. Also, on-board vehicle sensors may provide inaccurate or incomplete data due to sensors limitations and blind spots, especially in such critical situations. To resolve these issues, the present thesis introduces a novel solution that uses an off-board Road-Side Unit (RSU) to realize fully automated highway on-ramp merging for connected and automated vehicles. Our proposed approach is based on an Artificial Neural Network (ANN) to predict drivers’ intentions. This prediction is used as an input state to a Deep Reinforcement Learning (DRL) agent that outputs the longitudinal acceleration for the merging vehicle. To achieve this, we first show how the road-side unit may be used to enhance perception in the on-ramp zone. We then propose a driver intention model that can predict the behavior of the human-driven vehicles in the main highway lane, with 99% accuracy. We use the output of this model as an input state to train a Twin Delayed Deep Deterministic Policy Gradients (TD3) agent that learns « safe » and « cooperative » driving policy to perform highway on-ramp merging. We show that our proposed decision-making strategy improves performance compared to the solutions proposed previously
Monteuuis, Jean-Philippe. « Resilience by design & ; failures forecasting for a connected autonomous vehicle ». Thesis, Institut polytechnique de Paris, 2020. http://www.theses.fr/2020IPPAT003.
Texte intégralAutonomous vehicles with an automation level 5 will drive autonomously in any road scenarios such as highways, snowy roads, urban areas, or traffic jams. The integration of V2X communication, as a new source of perception for the vehicle could remove the limitations of local perception by communicating with an occluded pedestrian or by detecting in advance the presence of a vehicle under a heavy mist. However, this V2X communication may be a new source of attacks threatening the vehicle perception. Current countermeasures are not designed for all autonomous vehicles because these countermeasures require the driver assistance or work with a specific set of sensors. Therefore, the thesis aims to propose a generic failure resilient perception architecture for all types of connected and autonomous vehicles supporting different kinds of sensors. In this thesis, we propose a generic perception architecture named GPA with its failure resilient perception algorithm (FRPA). We propose a new threat analysis and risk assessment method named SARA that identifies and assess the risk of attacks targeting connected and automated vehicles with an automation level 5. To identify where and how these attacks occur, we propose an attacker and a security goal model for all automotive perception systems. We implemented two modules of our failures resilient perception algorithm (FRPA): a Machine Learning based Failure Classifier and a V2X-Sensor Correlation Module considering three kinds of source: camera, radar, and V2X. We highlighted several new attacks in the perception pipeline and raise the need for new security countermeasures such as the physical integrity of road infrastructures and trustworthy perception algorithms. Besides, our countermeasures based on machine learning and sensor correlation showed very accurate results to detect and classifies perception failures (over 90% accuracy score). Finally, the ideas developed in the thesis resulted in 10 filled patents and several publications
Sala, Sanmartí Marcel. « Modeling present and future freeway management strategies : variable speed limits, lane-changing and platooning of connected autonomous vehicles ». Doctoral thesis, Universitat Politècnica de Catalunya, 2019. http://hdl.handle.net/10803/668562.
Texte intégralPer tal de millorar la capacitat i reduir la congestió a les autopistes cal gestionar el trànsit de manera activa. Les estratègies de gestió activa del trànsit són d’especial importància en autopistes metropolitanes. La congestió provoca retards i un increment del consum de combustible que va lligat a unes majors emissions de gasos contaminants, tots amb efectes perniciosos per la societat. La gestió activa del transit requereix regular la demanda i millorar la capacitat de la via. Encara que tots dos aspectes son necessaris, la present tesis només analitza la gestió de l’oferta. Part de la recerca en l’anàlisi i la teoria del trànsit es basa en dades empíriques. Per satisfer el requeriment de dades detallades i d’alta qualitat, aquesta tesis presenta una campanya pionera de recol·lecció de dades. Les dades es van recollir a l’autopista B-23 d’accés a Barcelona. Tots els instruments de mesura es van configurar per tal de registrar les dades amb el major nivell de detall possible, incloent les càmeres de videovigilància, d’on es varen extreure els comptatges de canvi de carril. Amb aquest objectiu, es va desenvolupar una metodologia semiautomàtica per comptar canvis de carril a partir de gravacions de trànsit, que es presenta en el cos de la tesi. L’anàlisi de les dades obtingudes ha demostrat que el compliment dels límits de velocitat només resulta rellevant en aquelles seccions que compten amb un radar. És en aquestes seccions on s’ha confirmat que com menor és el límit de velocitat, major es l’ocupació per a un flux donat. Per contra, la hipòtesi habitual de que uns límits de velocitat baixos produeixen una restricció del flux no es va observar de forma rellevant. Aquest comportament podria esser diferent en el cas d’implantar un radar de tram. Els resultats obtinguts també mostren com les diferències de velocitats entre carrils s’incrementen per a límits de velocitat baixos i en condicions de demanda moderada. Això, alhora, incrementa el nombre de canvis de carril. Per contra, els límits de velocitat baixos contribueixen a una distribució de flux més uniforme entre carrils, de forma que es pot evitar la infrautilització de carrils. L’anàlisi més detallat de l’activitat de canvi de carril demostra que una taxa elevada de canvis de carril impedeix assolir fluxos grans de circulació. En la tesi, aquesta relació inversa entre la taxa de canvis de carril i el flux màxim de trànsit a l’autopista s’ha modelat de forma estocàstica utilitzant un model basat en la inferència Bayesiana. Aquest model es pot utilitzar com una eina de control, per tal de determinar quina taxa de canvi de carril es pot permetre si es vol assolir una capacitat determinada amb una determinada probabilitat de compliment. En vista dels resultats previs, la falta de compliment de les normes de trànsit per part dels conductors s’identifica com un punt dèbil a l’hora de maximitzar els beneficis de les actuals estratègies de gestió del transit. Això probablement canviarà en el futur pròxim amb la irrupció dels Vehicles Autònoms (VA) a les autopistes. Els sistemes de comunicació V2X permetran actuar individualment sobre cada vehicle amb una gran precisió. Això obrirà la porta a noves estratègies de gestió, basades en la comunicació simultània entre diferents grups de VA i en temps de reacció extremadament curts, com per exemple és el “platooning”, que destaca pel seu gran potencial per millorar el trànsit en autopista. Els “platons” son cadenes de VA viatjant amb uns espaiaments extremadament curts que permeten assolir capacitats mes elevades i un menor consum energètic. En aquest context, la tesi presenta un model macroscòpic parsimoniós per a “platons” de VA en condicions de transit mixt, és a dir, compartint la infraestructura amb vehicles tradicionals. El model permet determinar la longitud mitjana del “platons” i reproduir el trànsit global dinàmiques que condueixen a majors capacitats. Els resultats demostren que amb un 50% la velocitat de penetració dels AV al carril, la capacitat podria arribar als 3.400 vehicles / h / carril sota una estratègia cooperativa de “platooning”
Gupta, Shobhit. « Look-Ahead Optimization of a Connected and Automated 48V Mild-Hybrid Electric Vehicle ». The Ohio State University, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=osu1554478434629481.
Texte intégralWang, Yuan-Fang. « Computer Vision Analysis for Vehicular Safety Applications ». International Foundation for Telemetering, 2015. http://hdl.handle.net/10150/596451.
Texte intégralIn this paper, we present our research on using computer-vision analysis for vehicular safety applications. Our research has potential applications for both autonomous vehicles and connected vehicles. In particular, for connected vehicles, we propose three image analysis algorithms that enhance the quality of a vehicle's on-board video before inter-vehicular information exchange takes place. For autonomous vehicles, we are investigating a visual analysis scheme for collision avoidance during back up and an algorithm for automated 3D map building. These algorithms are relevant to the telemetering domain as they involve determining the relative pose between a vehicle and other vehicles on the road, or between a vehicle and its 3D driving environment, or between a vehicle and obstacles surrounding the vehicle.
Mladenovic, Milos. « Development of Sustainable Traffic Control Principles for Self-Driving Vehicles : A Paradigm Shift Within the Framework of Social Justice ». Diss., Virginia Tech, 2014. http://hdl.handle.net/10919/64806.
Texte intégralPh. D.
Mennie, James J. « A Culture/Climate Examination of Autonomous Vehicle Technology In The United States ». Scholar Commons, 2018. https://scholarcommons.usf.edu/etd/7546.
Texte intégralKarray, Khaled. « Cyber-security of connected vehicles : contributions to enhance the risk analysis and security of in-vehicle communications ». Thesis, Université Paris-Saclay (ComUE), 2019. http://www.theses.fr/2019SACLT023.
Texte intégralDuring the last decade, technological advances have made the car more and more connected to the outside world. On the flip side, thistechnological transformation has made modern vehicles subject to advanced cyber attacks. The cyber-physical architectures of automotive systems were not designed with security in mind. With the integration of connected platforms into these cyberphysical systems, the threat landscape has radically changed. Lately, multiple security breaches targeting different car manufacturers have been reported mainly by the scientific community. This makes security a critical concern, with a high impact especially on future autonomous driving. In order to address this gap, rigorous security engineering needs to be integrated into the design process of an automotive system and new protection methods adapted to the specificities of the vehicle systems must be introduced. Threat modeling and risk analysis are essential building blocks of this process. In this context, attack trees proved to be a reasonably good way to model attack steps. Nevertheless, given the diversity of architectures, it can quickly become a burden to draw attack trees for all architectures. This thesis tackles the issues of security of connected vehicles. The proposed approach allows enhancing the threat analysis with the automated generation of attack tree used to assist in the risk assessment step. We also propose novel and efficient protection mechanisms for in-vehicle communication networks capable of coping with existing cyber-physical attacks
Azmat, Muhammad, Sebastian Kummer, Moura Lara T, Gennaro Federico Di et Rene Moser. « Future Outlook of Highway Operations with Implementation of Innovative Technologies Like AV, CV, IoT and Big Data ». MDPI, 2019. http://dx.doi.org/10.3390/logistics3020015.
Texte intégralBechihi, Adel. « Joint design of control algorithms and communication protocols for Connected and Automated Vehicles ». Electronic Thesis or Diss., université Paris-Saclay, 2023. http://www.theses.fr/2023UPAST203.
Texte intégralIn this thesis, we address the problem of control of multi-agent systems connected over realistic models of communication systems. We mainly focus on systems of connected and automated vehicles (CAVs) that communicate through a 5G communication system, which allows two types of communication: direct communication between nodes, known as Vehicle-to-Vehicle (V2V) communications, and communication through the network infrastructure, which is the traditional way of communication in cellular networks.The thesis discusses three problems: first, we analyze the stability and convergence properties of the consensus algorithm of first-order integrator agents using a time-division multiple access (TDMA) scheme to share the network resources of a broadcast shared communication channel. Exponential stability of the considered system is proved, and an explicit bound depending on the communication system parameters is provided to estimate the convergence rate. Second, we treat the problem of formation control of a float of connected vehicles in a 5G communication context. We propose a resource allocation algorithm to select the transmitting users to achieve the desired formation while satisfying the constraints imposed by the communication system. Finally, we study the stability properties of Kalman filters for hybrid systems, i.e., systems with continuous-time dynamics observed through discrete-time measurements. Input-to-state stability (ISS) is proved for such systems relying on an appropriate Lyapunov function. This result can be considered as a first step in the robustness analysis of the overall system since it allows to treat the effects of communication errors on the controlled system stability
Valenti, Giammarco. « Cooperative ADAS and driving, bio-inspired and optimal solutions ». Doctoral thesis, Università degli studi di Trento, 2022. http://hdl.handle.net/11572/336890.
Texte intégralBoukhalfa, Mohamed Fouzi. « Low latency radio and visible light communications for autonomous driving ». Electronic Thesis or Diss., Sorbonne université, 2021. http://www.theses.fr/2021SORUS164.
Texte intégralThe subject of this thesis is vehicle wireless networks and, more specifically, the use of radio transmission and Visible Light Communication (VLC) to improve vehicle safety. The thesis is motivated by the reliability and scalability issues of the IEEE 802.11p standard. The idea is to move towards new techniques, especially in future 803.11bd standards, and to combine radio transmission with VLC to enable hybrid communication. The first part of the thesis concerns the development of a low latency radio access technique in vehicular networks. The idea of the solution is to combine classical TDMA techniques and advanced mechanisms of competitive protocols using active signaling. This solution has been specified, evaluated, and compared to other solutions from literature. This part also introduces a special access scheme for high priority emergency packets, while ensuring reliable and low latency access. The second part of the thesis concerns visible light communication for platoon control. The idea is to develop an algorithm to select the radio communication, proposed in the first part, and visible light communication based on the radio channel conditions and platoon alignment
Solano, Araque Edwin. « De l’ergonomie automobile à l’optimisation de la conduite automatisée. Application à l’écoconduite des véhicules électriques ». Thesis, Orléans, 2020. http://www.theses.fr/2020ORLE3059.
Texte intégralIn the framework of this dissertation, we will focus on Eco-driving and, particularly on eco-maneuvers, taking into account constraints associated to infrastructure and traffic, as well as with drivability. Additionally, we will take inspiration on Cognitive Principles for the algorithm design; it will allow to reinforce algorithm’s effectiveness and modularity. Easiness of calibration will also be an important concern for our work. Our whole discussion focuses on Battery Electric Vehicles. However, the proposed principles may be adapted for their application for other types of powertrain.Our work treats three main topics: on one side, Driving Ergonomics, allowing to determine some criteria on drivability ; we will also propose a modelling of the driver allowing to take into account ergonomics considerations. Finally, we will assess our hypothesis with respect with driver behavior on real situations, by applying an innovative methodology for the analysis of actual driving records. Next we will focus on Energy Model of the vehicle and of driving maneuvers, as well as to the assessment of energy gain potential associated to several Eco-driving strategies; the origin of these gains is also studied. Finally, we propose a Control Algorithm allowing to execute driving eco-maneuvers, while taking into account drivability criteria. The global algorithm structure is based on cognitive principles presented earlier. These function consists of several subsystems, which improves its modularity, and enforces its potential to operate within real-time constraints, and simplifies calibrations ; these both are major advantages for an industrial application
El, Mawas Zaynab. « Localisation coopérative tolérante aux fautes : apport de l'apprentissage pour le diagnostic ». Electronic Thesis or Diss., Université de Lille (2022-....), 2023. http://www.theses.fr/2023ULILB039.
Texte intégralAutonomous and connected mobility has become a major socio-economic challenge. However, the safety and security of autonomous vehicles are barriers to the deployment of this type of vehicle. In this context, the aim of this thesis is to contribute to the development of sensor fault diagnosis methods, and to implement inter-vehicle cooperation to improve the localization performance of these autonomous vehicles.Concerning the diagnostic aspect, we propose to couple both model- and data-based techniques to produce a sensor fault-tolerant cooperative localization solution. Given the stochastic nature of the measurements, we have chosen the informational formalism, which provides measures of dissimilarity between probability distributions called divergences. In this thesis, we use the Jensen-Shannon divergence to synthesize fault indicators, the residuals. Thresholding these residuals enables us to detect and isolate sensor faults. We have also studied the contribution of learning to diagnostic decision-making. Two models, one for detection and the other for isolation, were trained, using different machine learning tools (multi-layer perceptron, decision tree and logistic regression).Inter-vehicle cooperation has led to the implementation of a decentralized architecture for multi-sensor data fusion and diagnosis. This inter-vehicle cooperative aspect enables informational redundancy, contributing to improved performance in pose estimation and diagnosis. The data generated by this architecture has been used to implement a federated learning paradigm.The proposed methods were developed, tested and evaluated on a set of scenarios with real and injected sensor faults. These scenarios were created using a database of real data acquired with a robotic platform designed during the thesis. The PRETIL platform comprises three communicating and instrumented robots
RAVIGLIONE, FRANCESCO. « Open Platforms for Connected Vehicles ». Doctoral thesis, Politecnico di Torino, 2022. https://hdl.handle.net/11583/2973988.
Texte intégralPérez, Tellez Adriel, et Jonas Roth. « Mobile autonomous ground vehicles ». Thesis, KTH, Skolan för elektro- och systemteknik (EES), 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-199348.
Texte intégralArutselvan, Kuralamudhan. « Assistive Autonomous Ground Vehicles ». Thesis, KTH, Skolan för elektro- och systemteknik (EES), 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-200530.
Texte intégralKim, Bumsik. « Modeling Automated Vehicles and Connected Automated Vehicles on Highways ». Diss., Virginia Tech, 2021. http://hdl.handle.net/10919/103012.
Texte intégralDoctor of Philosophy
The deployment of Automated Vehicles (AV) is starting to become widespread throughout transportation, resulting in the recognition and awareness by legislative leaders of the potential impact on transportation operations. To assist transportation operators in making the needed preparations for these vehicles, an in-depth study regarding the impact of AV and Connected Automated Vehicles (CAV) is needed. In this research, the impact of AV and CAV on the highway setting is studied. This study addresses car-following models that are currently used for simulating AV and CAV. Diverse car-following models, such as the Intelligent Driver Model (IDM), the IDM with traffic adaptive driving Strategy (SIDM), the Improved IDM (IIDM), the IIDM with Constant-Acceleration Heuristic (CAH), and the MIcroscopic model for Simulation of Intelligent Cruise control (MIXIC) were examined with the state-of-the-art vehicle trajectory data. The Highway Drone dataset (HighD) were analyzed through the implementation of genetic algorithm to gain more insight about the trajectories of these vehicles. In 2020, there is no commercially available gully automated vehicle available to the public, although many companies are conducting in field testing. This research generated AV trajectories based on the actual vehicle trajectories from the High-D dataset and adjusts those trajectories to account for ideal AV operations. The analysis from the fitted trajectory data shows that the calibrated IIDM with CAH provides a best fit on AV behavior. Next, the AV and CAV were modeled in microscopic perspective to show the impact of these vehicles on a corridor. The traffic simulation software, VISSIM, modified by implementing an external driver model to govern the interactions between Legacy Vehicles (LV), AV, and CAV on a basic and merging highway segment as well as a model of the Interstate 95 corridor south of Richmond, Virginia. From the analysis, this research revealed that the AV and CAV could increase highway capacity significantly. Even with a small portion of AV or CAV, the roadway capacity increased. On I-95, CAV performed better than AV because of Cooperative Adaptive Cruise Control (CACC) and platooning due to CAV's ability to coordinate movement through communication; however, in weaving segments, CAV underperformed AV. This result indicates that the CAV algorithms would need to be flexible in order to maintain flow in areas with weaving sections. Lastly, diverse operational conditions, such as different heavy vehicle market penetration and different aggressiveness were examined to support traffic operators transition to the introduction of AV and CAV. Based on the analysis, the study concludes that the different aggressiveness could mitigate congestion in all cases if the proper aggressiveness level is selected considering the current traffic condition. Overall, the dissertation provides guidance to researchers, traffic operators, and lawmakers to model, simulate, and evaluate AV and CAV on highways.
Aygun, Bengi. « Distributed Adaptation Techniques for Connected Vehicles ». Digital WPI, 2016. https://digitalcommons.wpi.edu/etd-dissertations/336.
Texte intégralBridgelall, Raj. « Pavement Performance Evaluation Using Connected Vehicles ». Diss., North Dakota State University, 2015. http://hdl.handle.net/10365/25000.
Texte intégralMountain Plains Consortium (MPC)
Pedreira, Carabel Carlos Javier. « Terrain Mapping for Autonomous Vehicles ». Thesis, KTH, Datorseende och robotik, CVAP, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-174132.
Texte intégralAutonoma fordon har blivit spetsen för bilindustrin i dag i sökandet efter säkrare och effektivare transportsystem. En av de viktigaste sakerna för varje autonomt fordon består i att vara medveten om sin position och närvaron av hinder längs vägen. Det aktuella projektet behandlar position och riktning samt terrängkartläggningsproblemet genom att integrera en visuell distansmätnings och kartläggningsmetod. RGB-D kameran Kinect v2 från Microsoft valdes som sensor för att samla in information från omgivningen. Den var ansluten till en Intel mini PC för realtidsbehandling. Båda komponenterna monterades på ett fyrhjuligt forskningskonceptfordon (RCV) för att testa genomförbarheten av den nuvarande lösningen i utomhusmiljöer. Robotoperativsystemet (ROS) användes som utvecklingsmiljö med C++ som programmeringsspråk. Den visuella distansmätningsstrategin bestod i en bildregistrerings-algoritm som kallas Adaptive Iterative Closest Keypoint (AICK) baserat på Iterative Closest Point (ICP) med hjälp av Oriented FAST och Rotated BRIEF (ORB) som nyckelpunktsutvinning från bilder. En rutnätsbaserad lokalkostnadskarta av rullande-fönster-typ implementerades för att få en tvådimensionell representation av de hinder som befinner sig nära fordonet inom ett fördefinierat område, i syfte att möjliggöra ytterligare applikationer för körvägen. Experiment utfördes både offline och i realtid för att testa systemet i inomhus- och utomhusscenarier. Resultaten bekräftade möjligheten att använda den utvecklade metoden för att spåra position och riktning av kameran samt upptäcka föremål i inomhusmiljöer. Men utomhus visades begränsningar i RGB-D-sensorn som gör att den aktuella systemkonfigurationen är värdelös för utomhusbruk.
Dever, Christopher W. (Christopher Walden) 1972. « Parametrized maneuvers for autonomous vehicles ». Thesis, Massachusetts Institute of Technology, 2004. http://hdl.handle.net/1721.1/30328.
Texte intégralIncludes bibliographical references (p. 197-209).
This thesis presents a method for creating continuously parametrized maneuver classes for autonomous vehicles. These classes provide useful tools for motion planners, bundling sets of related vehicle motions based on a low-dimensional parameter vector that describes the fundamental high-level variations within the trajectory set. The method follows from a relaxation of nonlinear parametric programming necessary conditions that discards the objective function, leaving a simple coordinatized feasible space including all dynamically admissible vehicle motions. A trajectory interpolation algorithm uses projection and integration methods to create the classes, starting from arbitrary user-provided maneuver examples, including those obtained from standard nonlinear optimization or motion capture of human-piloted vehicle flights. The interpolation process, which can be employed for real-time trajectory generation, efficiently creates entire maneuver sets satisfying nonlinear equations of motion and nonlinear state and control constraints without resorting to iterative optimization. Experimental application to a three degree-of-freedom rotorcraft testbed and the design of a stable feedforward control framework demonstrates the essential features of the method on actual hardware. Integration of the trajectory classes into an existing hybrid system motion planning framework illustrates the use of parametrized maneuvers for solving vehicle guidance problems. The earlier relaxation of strict optimality conditions makes possible the imposition of affine state transformation constraints, allowing maneuver sets to fit easily into a mixed integer-linear programming path planner.
(cont.) The combined scheme generalizes previous planning techniques based on fixed, invariant representations of vehicle equilibrium states and maneuver elements. The method therefore increases the richness of available guidance solutions while maintaining problem tractability associated with hierarchical system models. Application of the framework to one and two-dimensional path planning examples demonstrates its usefulness in practical autonomous vehicle guidance scenarios.
by Christopher Walden Dever.
Ph.D.
RAHMAN, SHAHNUR. « Visual Perception in Autonomous Vehicles ». Thesis, KTH, Hållbarhet och industriell dynamik, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-189346.
Texte intégralDen mänskliga faktorn står för nio av tio utav alla trafikolyckor, och eftersom att allt fler fordon kommer ut på vägarna så leder det till att olycksantalet ökar. På grund av detta så har olika automatiserade funktioner applicerats i fordonet för att undvika den mänskliga faktorn i körningen. Denna utveckling har accelererat och fordon som ska kunna utföra hela det dynamiska framförandet utan mänsklig assistans har börjat utvecklas i olika projekt runt om i världen. Dock så har det autonoma fordonet många barriärer kvar att övervinna, för säkert framförande, varav en av dessa barriärer är fordonets förmåga att visuellt uppfatta omgivningen. Dels genom att något kan täcka kamerasensorerna men även att kunna omsätta det sensorerna uppfattar till något värdefullt för passageraren. Situationen skulle dock kunna förbättras om trådlös kommunikation gjordes tillgänglig för det autonoma fordonet. Istället för att försöka uppfatta omgivningen via kamerasensorer, skulle det autonoma fordonet kunna få den information som behövs via trådlös kommunikation, vilket är vad denna studie behandlade. Studien visade att trådlös kommunikation kommer att ha en betydelse för det autonoma fordonet i framtiden. Slutsatsen grundar sig på att trådlös kommunikation varit en lösning inom andra transportsystem som haft en liknande barriär som för det autonoma fordonet. Man planerar dessutom på att hantera det autonoma fordonets barriär via trådlös kommunikation i pilotprojekt i dagsläget
Hultgren, Andree, et Muhammed Memedi. « Autonomous Vehicles With Obstacle Avoidance ». Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-254202.
Texte intégralLi, Kaibo. « Modular connected machines system for electrified vehicles ». Thesis, Lille 1, 2020. http://www.theses.fr/2020LIL1I046.
Texte intégralModular Connected Machines (MCM) system is one kind of multi-machine system, where several machines are integrated into a module. It has wider high-efficiency area, better fault tolerance ability and numerous operation modes, and is perspective in the fields of electrified vehicles. The objective of this PhD subject is to develop different MCM systems for electrified vehicles.For this, this PhD thesis firstly organizes the model and control of a MCM-based vehicle by Energetic Macroscopic Representation (EMR). The use of EMR emphasizes the important couplings, which distribute energy. Through inversion rules, EMR highlights the necessity for introducing energy distribution criteria in the control structure. Then a fast efficiency map estimation method for different EMs are proposed. The elimination of Electrical Machine (EM) pre-design saves a lot of time, which lays a foundation for MCM sizing. Next, a multi-objective-based sizing method for a MCM is proposed, which can ensure lager high-efficiency area, larger torque density and less usage amount of Permanent Magnet (PM). The interest of different MCM systems for different vehicles are compared and analysed. Finally, two kinds of power split strategies of a MCM system are developed. They are compared in terms of efficiency and EM operating property. A reduced-scale Hardware-In-the-Loop (HIL) setup is established and the strategies are validated in real-time
Gong, Xuwei. « Security Threats and Countermeasures for Connected Vehicles ». Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-259494.
Texte intégralMed den snabba utvecklingen av anslutna fordon har bilsäkerhet blivit ett av de viktigaste ämnena. För att studera hur man skyddar säkerheten för fordonskommunikation analyserar vi potentiella hot mot anslutna fordon och diskuterar motåtgärder för att mildra dessa hot. I denna avhandling undersöker vi 25 tjänster som anslutna fordon kan tillhandahålla. Entiteter, anslutningar och meddelandeflöden i dessa tjänster undersöks och syntetiseras i en fordonsnätverksstruktur. De 25 tjänsterna är indelade i sex användarvägar, inklusive: infotainment service, fjärrövervakning, enhetskontroll, Fordon-tillallt (V2X), diagnostikservice och IDS-system (Intrusion Detection System). Vi etablerar kommunikationsmodeller för dessa användningsfall och analyserar de potentiella hot som baseras på CIA-kriterier (Confidentiality, Integrity and Availability). Vi diskuterar eventuella motåtgärder som kan mildra dessa hot baserat på befintliga nätverkssäkerhetstekniker. Varje alternativ motåtgärds fördelar och begränsningar presenteras. För att filtrera eventuella attacker undersöker vi och utformar brandväggar i fyra delar av ett fordon: Dedicated Short-Range Communications (DSRC) -modul, gateway, Telematic Control Unit (TCU) och Human Machine Interface (HMI). Vi simulerar också en brandvägg för en HMI-applikation genom att bygga en kommunikationsmodell i Python.