arXiv subjects

Shuo Feng

Publications and source records attributed to Shuo Feng.

64 records · Page 4Linked to original sources

arXiv2020

Robust Platoon Control in Mixed Traffic Flow Based on Tube Model Predictive Control

The design of cooperative adaptive cruise control is critical in mixed traffic flow, where connected and automated vehicles (CAVs) and human-driven vehicles (HDVs) coexist. Compared with pure CAVs, the major challenge is how to handle the prediction uncertainty of HDVs, which can cause significant state deviation of CAVs from planned trajectories. In most existing studies, model predictive control (MPC) is utilized to replan CAVs' trajectories to mitigate the deviation at each time step. However, as the replan process is usually conducted by solving an optimization problem with information through inter-vehicular communication, MPC methods suffer from heavy computational and communicational burdens. To address this limitation, a robust platoon control framework is proposed based on tube MPC in this paper. The prediction uncertainty is dynamically mitigated by the feedback control and restricted inside a set with a high probability. When the uncertainty exceeds the set or additional external disturbance emerges, the feedforward control is triggered to plan a ``tube'' (a sequence of the set), which can bound CAVs' actual trajectories. As the replan process is usually not required, the proposed method is much more efficient regarding computation and communication, compared with the MPC method. Comprehensive simulations are provided to validate the effectiveness of the proposed framework.

eess.SY↗

arXiv2020

Testing Scenario Library Generation for Connected and Automated Vehicles, Part II: Case Studies

Testing scenario library generation (TSLG) is a critical step for the development and deployment of connected and automated vehicles (CAVs). In Part I of this study, a general methodology for TSLG is proposed, and theoretical properties are investigated regarding the accuracy and efficiency of CAV evaluation. This paper aims to provide implementation examples and guidelines, and to enhance the proposed methodology under high-dimensional scenarios. Three typical cases, including cut-in, highway-exit, and car-following, are designed and studied in this paper. For each case, the process of library generation and CAV evaluation is elaborated. To address the challenges brought by high dimensions, the proposed methodology is further enhanced by reinforcement learning technique. For all three cases, results show that the proposed methods can accelerate the CAV evaluation process by multiple magnitudes with same evaluation accuracy, if compared with the on-road test method.

cs.RO↗

arXiv2020

Testing Scenario Library Generation for Connected and Automated Vehicles, Part I: Methodology

Testing and evaluation is a critical step in the development and deployment of connected and automated vehicles (CAVs), and yet there is no systematic framework to generate testing scenario library. This study aims to provide a general framework for the testing scenario library generation (TSLG) problem with different operational design domains (ODDs), CAV models, and performance metrics. Given an ODD, the testing scenario library is defined as a critical set of scenarios that can be used for CAV test. Each testing scenario is evaluated by a newly proposed measure, scenario criticality, which can be computed as a combination of maneuver challenge and exposure frequency. To search for critical scenarios, an auxiliary objective function is designed, and a multi-start optimization method along with seed-filling is applied. The proposed framework is theoretically proved to obtain accurate evaluation results with much fewer number of tests, if compared with the on-road test method. In part II of the study, three case studies are investigated to demonstrate the proposed methodologies. Reinforcement learning based technique is applied to enhance the searching method under high-dimensional scenarios.

eess.SY↗

arXiv2019

A Bi-Level Cooperative Driving Strategy Allowing Lane Changes

This paper studies the cooperative driving of connected and automated vehicles (CAVs) at conflict areas (e.g., non-signalized intersections and ramping regions). Due to safety concerns, most existing studies prohibit lane change since this may cause lateral collisions when coordination is not appropriately performed. However, in many traffic scenarios (e.g., work zones), vehicles must change lanes. To solve this problem, we categorize the potential collision into two kinds and thus establish a bi-level planning problem. The right-of-way of vehicles for the critical conflict zone is considered in the upper-level, and the right-of-way of vehicles during lane changes is then resolved in the lower-level. The solutions of the upper-level problem are represented in tree space, and a near-optimal solution is searched for by combining Monte Carlo Tree Search (MCTS) with some heuristic rules within a very short planning time. The proposed strategy is suitable for not only the shortest delay objective but also other objectives (e.g., energy-saving and passenger comfort). Numerical examples show that the proposed strategy leads to good traffic performance in real-time.

cs.MA↗

arXiv2019

Conditional Analysis for Key-Value Data with Local Differential Privacy

Local differential privacy (LDP) has been deemed as the de facto measure for privacy-preserving distributed data collection and analysis. Recently, researchers have extended LDP to the basic data type in NoSQL systems: the key-value data, and show its feasibilities in mean estimation and frequency estimation. In this paper, we develop a set of new perturbation mechanisms for key-value data collection and analysis under the strong model of local differential privacy. Since many modern machine learning tasks rely on the availability of conditional probability or the marginal statistics, we then propose the conditional frequency estimation method for key analysis and the conditional mean estimation for value analysis in key-value data. The released statistics with conditions can further be used in learning tasks. Extensive experiments of frequency and mean estimation on both synthetic and real-world datasets validate the effectiveness and accuracy of the proposed key-value perturbation mechanisms against the state-of-art competitors.

cs.CR↗

arXiv2018

Longitudinal Safety Analysis For Heterogeneous Platoon Of Automated And Human Vehicles

With the recent advancement in environmental sensing, vehicle control and vehicle-infrastructure cooperation technologies, more and more autonomous driving companies start to put their intelligent cars into road test. But in the near future, we will face a heterogeneous traffic with both intelligent connected vehicles and human vehicles. In this paper, we investigated the impacts of four collision avoidance algorithms under different intelligent connected vehicles market penetration rate. A customized simulation platform is built, in which a platoon can be initiated with many key parameters. For every short time interval, the dynamics of vehicles are updated and input in a kinematics model. If a collision occurs, the energy loss is calculated to represent the crash severity. Four collision avoidance algorithms are chosen and compared in terms of the crash rate and severity at different market penetration rate and different locations of the platoon. The results generate interesting debates on the issues of heterogeneous platoon safety.

eess.SY↗

arXiv2018

Context-aware Group Buying in Ultra-dense Small Cell Networks: Unity is Strength

The ultra-dense small cell networks (SCNs) have been regarded as a promising technology to solve the data traffic explosion in future. However, the complicated relationships among large scale users and cells practically demand a cooperative grouping mechanism to account for the shortage of resources in SCNs. Then, a group buying market mechanism provides a win-win situation and an effective resource allocation in the view of economics. With additional decision information being provided, the context awareness enhances and improves the group buying mechanism. In this article, we propose a Context-Aware Group Buying (CAGB) mechanism to allocate the resources in ultra-dense SCNs. The feasibility, necessity, and effectiveness of CAGB are analyzed first. Then, we introduce the group buying mechanism and some common context awareness. The relationship between context awareness and group buying is also analyzed. Some important technologies in SCNs are discussed in the view of CAGB, such as load balancing, spectrum management, and cooperative caching. Then, the graphical coalition formation games (CFGs) of CAGB are also presented to match the complicated network topologies in SCNs. Two CAGB-based use cases about spectrum market and cooperative caching are presented. Finally, future research issues about context awareness, grouping mechanism, and buying mechanism are discussed.

cs.GT↗

arXiv2018

Stackelberg Game Approaches for Anti-jamming Defence in Wireless Networks

This article investigates the anti-jamming communications problem in wireless networks from a Stackelberg game perspective. By exploring and analyzing the inherent characteristics of the anti-jamming problem, we present and discuss some technical challenges and fundamental requirements to address them. To be specific, the adversarial characteristic, incomplete information constraints, dynamics, uncertainty, dense deployment, and heterogeneous feature bring technical challenges to anti-jamming communications in wireless networks. Then, for the purpose of improving system performance, four requirements for anti-jamming communications are presented and discussed. Following the advantages of the Stackelberg game model in anti-jamming field, we formulate an anti-jamming decision-making framework based on the Stackelberg game for anti-jamming defence in wireless networks. Moreover, two preliminary case studies are presented and discussed for better understanding of the anti-jamming Stackelberg game problem. Finally, some future research directions are also provided.

cs.GT↗

arXiv2018

A Grouping Based Cooperative Driving Strategy for CAVs Merging Problems

In general, there are two kinds of cooperative driving strategies, planning based strategy and ad hoc negotiation based strategy, for connected and automated vehicles (CAVs) merging problems. The planning based strategy aims to find the global optimal passing order, but it is time-consuming when the number of considered vehicles is large. In contrast, the ad hoc negotiation based strategy runs fast, but it always finds a local optimal solution. In this paper, we propose a grouping based cooperative driving strategy to make a good tradeoff between time consumption and coordination performance. The key idea is to fix the passing orders for some vehicles whose inter-vehicle headways are small enough (e.g., smaller than the pre-selected grouping threshold). From the viewpoint of optimization, this method reduces the size of the solution space. A brief analysis shows that the sub-optimal passing order found by the grouping based strategy has a high probability to be close to the global optimal passing order, if the grouping threshold is appropriately chosen. A series of simulation experiments are carried out to validate that the proposed strategy can yield a satisfied coordination performance with less time consumption and is promising to be used in practice.

eess.SY↗

arXiv2014

Cognitive Internet of Things: A New Paradigm beyond Connection

Current research on Internet of Things (IoT) mainly focuses on how to enable general objects to see, hear, and smell the physical world for themselves, and make them connected to share the observations. In this paper, we argue that only connected is not enough, beyond that, general objects should have the capability to learn, think, and understand both physical and social worlds by themselves. This practical need impels us to develop a new paradigm, named Cognitive Internet of Things (CIoT), to empower the current IoT with a `brain' for high-level intelligence. Specifically, we first present a comprehensive definition for CIoT, primarily inspired by the effectiveness of human cognition. Then, we propose an operational framework of CIoT, which mainly characterizes the interactions among five fundamental cognitive tasks: perception-action cycle, massive data analytics, semantic derivation and knowledge discovery, intelligent decision-making, and on-demand service provisioning. Furthermore, we provide a systematic tutorial on key enabling techniques involved in the cognitive tasks. In addition, we also discuss the design of proper performance metrics on evaluating the enabling techniques. Last but not least, we present the research challenges and open issues ahead. Building on the present work and potentially fruitful future studies, CIoT has the capability to bridge the physical world (with objects, resources, etc.) and the social world (with human demand, social behavior, etc.), and enhance smart resource allocation, automatic network operation, and intelligent service provisioning.

cs.AI↗