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Bayesian Methods in Automated Vehicle's Car-following Uncertainties: Enabling Strategic Decision Making

2022-10-25 00:58:31
Wissam Kontar, Soyoung Ahn
arXiv_RO
       
Abstract

This paper proposes a methodology to estimate uncertainty in automated vehicle (AV) dynamics in real time via Bayesian inference. Based on the estimated uncertainty, the method aims to continuously monitor the car-following (CF) performance of the AV to support strategic actions to maintain a desired performance. Our methodology consists of three sequential components: (i) the Stochastic Gradient Langevin Dynamics (SGLD) is adopted to estimate parameter uncertainty relative to vehicular dynamics in real time, (ii) dynamic monitoring of car-following stability (local and string-wise), and (iii) strategic actions for control adjustment if anomaly is detected. The proposed methodology provides means to gauge AV car-following performance in real time and preserve desired performance against real time uncertainty that are unaccounted for in the vehicle control algorithm.

Abstract (translated)

URL

https://arxiv.org/abs/2210.13683

PDF

https://arxiv.org/pdf/2210.13683.pdf

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