Verification of the safe driver assisted merge protocol
This presentation is the property of its rightful owner.
Sponsored Links
1 / 14

Verification of the Safe Driver Assisted Merge Protocol PowerPoint PPT Presentation


  • 68 Views
  • Uploaded on
  • Presentation posted in: General

Verification of the Safe Driver Assisted Merge Protocol. Brian Choi , Emmanuel Peters, Shou-pon Lin E6778 March 7, 2012 . Outline. Brief summary of project  Updated timeline Completed tasks Implemented updated merge protocol in simulator with velocity matching Results of baseline

Download Presentation

Verification of the Safe Driver Assisted Merge Protocol

An Image/Link below is provided (as is) to download presentation

Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author.While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server.


- - - - - - - - - - - - - - - - - - - - - - - - - - E N D - - - - - - - - - - - - - - - - - - - - - - - - - -

Presentation Transcript


Verification of the safe driver assisted merge protocol

Verification of the Safe Driver Assisted Merge Protocol

Brian Choi, Emmanuel Peters, Shou-pon Lin

E6778

March 7, 2012


Outline

Outline

  • Brief summary of project 

  • Updated timeline

  • Completed tasks

    • Implemented updated merge protocol in simulator with velocity matching

    • Results of baseline

    • Observations which justifies development of extended protocol

    • Developed projection-based proactive merge protocol

  • Future tasks

  • Progress evaluation


Project goals

Project Goals

  • Test the safe driver assisted merge protocol in a software environment to measure improvements in average vehicle throughput and average merge speed as a function of participation rate.

  • Validate the protocol by also testing against the failures initially presented last year.

  • Expand the safe driver assisted merge protocol by introducing proactive merging techniques


Updated timeline

Updated Timeline

  • Incorporate Protocol into Model (2/8-3/6)

    • Establish programmable parameters from SDAM protocol (2/8-2/15)

    • Reproduce protocol in software model (2/15-2/25)

    • Incorporate failure modes into model (2/25-3/7)

  • Run Simulations (3/7-4/4)

    • Introduce variability of traffic simulation (3/7-3/14)

    • Evaluate performance (3/14-4/4)

    • Code Debugging (3/14-4/4)

  • Summarize Results (4/4-4/18)

    • Report (4/4-4/11)

    • Presentation (4/11-4/18)

  • Incorporate Protocol into Model (2/8-3/6)

    • Refine merge protocol for utilization in traffic simulator (2/8-2/15)

    • Projection based proactive merging protocol (2/15-2/25)

    • Add protocols to traffic simulator (2/25-3/7)

  • Run Simulations (3/7-4/4)

    • Run Baseline Simulations (3/7-3/14)

    • Run Updated Protocol Simulations (3/14-4/4)

    • Compare Results (3/28-4/4)

    • Code Debugging (3/14-4/4)

  • Summarize Results (4/4-4/18)

    • Report (4/4-4/11)

    • Presentation (4/11-4/18)


Basic merge protocol

Basic Merge Protocol

  • Car on highway breaks suddenly to create room for merging car

  • Other cars are forced to break suddenly also


Updated merging protocol

Updated Merging Protocol

  • Instead of initiate merging protocol whenever a vehicle comes up of the ramp, we restrict that when initiating of merging protocol, the merging car should travel within a certain range of neighboring vehicle

  • Limit the amount of deceleration of back car

  • The merging car cannot travel at a speed that is too low


Baseline results

Baseline Results


Baseline results1

Baseline Results


Performance in terms of delay

Performance in terms of delay


Average throughput

Average Throughput


The need of extended protocol

The Need of Extended Protocol

  • Finding the participating vehicles by projecting the future positions of vehicles on the main road

  • Match the speed from the start of the ramp, instead of passively traveling on the ramp until the speeds of involved vehicles are matched

  • Creating the gap before the merging point is reached


Projection based proactive merging protocol

IDM Cruise Control

Wait

Incr. Safety Spacing

Car on ramp NOT participating in merge

Wait Timer

expires

Car leaves ramp

No neighbors

found

Abort Merge Protocol

Poll Road

Velocity, Positions of neighbors

No suitable neighbors found in X trials

No suitable neighbors.

No. of Trials <X

Neighbors

found

Project Positions

Unexpected event: Sudden breaking, etc.

Select Neighbors

for Merge

Accelerate

Merge Maneuver

IDM Cruise Control

Merge Completed

Achieve Target Velocity

Projection based proactive merging protocol


Future tasks

Future Tasks

  • Implement Projection-based proactive merging protocol in the simulator

  • Introduce failure model in the simulator

  • Simulations with the extended protocol

  • Results analysis


Progress evaluation

Progress Evaluation


  • Login