Behavior Control of Virtual Vehicle.ppt
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1、Behavior Control of Virtual Vehicle,Hongling Wang April 21, 2003,Introduction,Purpose of behavior control Run a virtual vehicle on a road network Following traffic rules A vehicle should be able to get anywhere in the road network Behavior control is complex Divided into basic component behaviors In
2、tegrate all the basic components,Components of Vehicle Behavior,Cruising behavior Vehicle drives at desired speed Following behavior Vehicle keeps a safe distance behind its leader Intersection behavior Vehicle traverses intersections safely Obeys traffic signals Respects right of way Lane changing
3、behavior Vehicle leaves the current lane and enters an adjacent target lane,Behavior and Kinematics,Behavior sets control parameters Acceleration Driving curvature Kinematics moves a vehicle to a new position according to parameter values,Path,Path, a ribbon composed of road lanes and intersection c
4、orridors Path used to guide vehicle moving Path forms a consistent frame of reference Pursuit point on path centerline Path is an interface between a vehicle and outside world,Path (Cont.),Path simplifies behavior control Driving curvature determined by path Acceleration determined by behaviors Path
5、 provides a basis for spatial relationship,Cruising behavior,Determines desired speed Compare current speed with desired speed Current speed is higher, negative acceleration Current speed is lower, positive acceleration Proportional controllerReactive behavior Decision depends only on the state at t
6、his moment,Following behavior,Query the leader on the path of a vehicle Compute relative distance and relative speed Proportional-derivative controllerContribute the acceleration if negative, discard it if positive Reactive behavior,PD controller response to a slow leader,acceleration Before critica
7、l point, positive After critical point, negative and increasing After negative maximum, negative and decreasing to approach 0 phases of vehicle actions No response Slow down to leaders speed Keep a safe distance from its leader,Integration of cruising and following behaviors,If following acceleratio
8、n 0, choose cruising acceleration If following acceleration =0, choose smaller value among the two Integrated behavior: a vehicle always tries to drive at a desired speed, while keeps from running into or too close to its leader,Intersection behavior,What a vehicle does before entering an intersecti
9、on Stop Keep going Stop and go alternatively Actions chosen according to ambient traffic and traffic control signals Sequential behavior Decision depends on both the state in last moment and the state in this moment,Intersection behavior (Cont.),An intersection is a resource A vehicle should not ent
10、er it if it cant leave it soon Three sub behaviors because of different right-of-way rules Going straight Turning left Turning right,Intersection behavior (Cont.),Main problems Stop a vehicle on desired position Using state machines to control action flow Gap acceptance Immediate gap (e.g., turning
11、right on RED) Predicted gap (e.g., turning left on GREEN),Stopping behavior,Requirements Inform a vehicle it is the time to decelerate Stop a vehicle in desired position if computed acceleration applied Keep a vehicle stopped after it stopped Acceleration computation method PD controller Invariant a
12、cceleration controller,PD controller for stopping,Acceleration formulaPhases of vehicle actions No response Slow down and stop at desired position Stay stopped at desired position,PD controller for stopping,disadvantages No fully stopping, speed infinitely approaches 0 Acceleration value may be too
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