Date of Award

2-2024

Document Type

Dissertation

Degree Name

Doctor of Philosophy (PhD)

Department

Computer Engineering

First Advisor

Hesham El Sayed

Second Advisor

Manzoor Ahmed Khan

Abstract

The evolution of sensor technologies, mobile networks, and artificial intelligence has significantly expanded the horizons of various sectors, notably in autonomous driving. According to the World Health Organization, over 1.3 million people succumb to traffic accidents annually, predominantly due to human negligence. Complex urban environments, characterized by mixed traffic flow involving Human Driven Vehicles and Connected and Autonomous Vehicles, intricate traffic patterns, frequent lane changes, and slow speeds, face escalating challenges related to traffic accidents and congestion. These challenges lead to wasted time, increased fuel consumption, and heightened pollution emission levels. Hence, the development of a safe and robust version of collaborative autonomous driving, known as convoy driving, is anticipated to greatly enhance road safety, traffic efficiency, and overall mobility by transitioning driving control from humans to autonomous systems. While collaborative autonomous driving solutions have existed for some time, the focus has predominantly been on classical problem domains of lower automation levels and vehicular networks on highways. Although substantial research has been dedicated to convoy driving for heavy-duty trucks, demonstrating its benefits on highways, challenges arise when extending collaborative driving functions to smaller lightweight vehicles in urban settings. Having highlighted such challenges, this work justifies the need for an evolved version of collaborative autonomous driving. The primary focus of this thesis is to investigate and overcome existing limitations and challenges associated with urban convoy driving by proposing novel theoretical frameworks. It introduces integrated solution components tailored to enable urban convoys, envisioning a future where convoy driving becomes a win-win solution—beneficial for the environment, the collective transportation system, and individual vehicle owners, contributing to the goals of achieving Level 5 autonomous driving. This means that it is investigated how convoy driving adds to road safety and efficiency, which is translated into a number of local objective functions. It is believed that this work is among the pioneers that study the aspects of collaborative autonomous driving, addressing not only collaboration for short time quanta but its benefits at societal and individual vehicle levels. This claim is supported by extensive literature surveys conducted to highlight gaps and differentiate the standing of this work, which is published in reputable venues. This thesis covers the following three main dimensions: I) Defining, modeling, and simulating the environment that captures the dynamics of a complex urban setting—The environment is modeled using a probabilistic graphical model (PGM), and an extension of the Car Learning to Act (CARLA) simulator, termed CARLA+, is developed by integrating the PGM framework. This proposed approach provides a unified framework to automate the behavior of dynamic environments using PGMs. II) Modeling Convoy Driving—Convoy driving is modeled by leveraging coalitional game theory in urban settings. Novel utility functions capturing relevant parameters and various benefits for convoy driving are designed and developed. The proposed theoretical framework can decide which traveling mode—coalition-driven or traveling alone—is beneficial for a vehicle in a given setting. This also forms the basis of the next contribution. III) Modeling Societal and Individual Vehicle Level Benefits of Convoy Driving—A theoretical incentivizing framework is proposed to investigate how the adoption of convoy driving can be incentivized to promote convoy driving in a mixed-traffic environment. The fundamental diagram model, VT-Micro model, and coalitional game theory framework are employed to model benefits at both the societal and individual vehicle levels. Experimental results demonstrate the pronounced advantages of convoy travel over solo travel. It is concluded that convoy travel is advantageous for a convoy size of two-six vehicles with an inter-vehicle spacing of less than four meters, considering the stability of the traffic flow and the urban environment limitations. Traveling in a convoy allows vehicles to save fuel, reduce travel time, and enhance safety and comfort. Notably, the research findings underscore that realizing the substantial benefits of coalition-driven driving necessitates finding the right equilibrium between vehicle speed, inter-vehicle distance, and coalition size.

Arabic Abstract


اﻟﺘﻌﺎون اﻟﺘﻜﯿﻔﻲ ﺑﯿﻦ اﻟﻤﺮﻛﺒﺎت ﻟﻠﻤﺴﺘﻮى اﻟﺨﺎﻣﺲ ﻣﻦ اﻟﻘﯿﺎدة اﻟﺬاﺗﯿﺔ

ﻟﻘﺪ أدى ﺗﻄﻮر ﺗﻘﻨﯿﺎت اﻻﺳﺘﺸﻌﺎر وﺷﺒﻜﺎت اﻟﮭﺎﺗﻒ اﻟﻤﺤﻤﻮل واﻟﺬﻛﺎء اﻻﺻﻄﻨﺎﻋﻲ إﻟﻰ ﺗﻮﺳﯿﻊ آﻓﺎق ﻣﺨﺘﻠﻒ اﻟﻘﻄﺎﻋﺎت ﺑﺸﻜﻞ ﻛﺒﯿﺮ، وﻻ ﺳﯿﻤﺎ ﻓﻲ ﻣﺠﺎل اﻟﻘﯿﺎدة اﻟﺬاﺗﯿﺔ. ووﻓﻘﺎ ﻟﻤﻨﻈﻤﺔ اﻟﺼﺤﺔ اﻟﻌﺎﻟﻤﯿﺔ، ﯾﻤﻮت أﻛﺜﺮ ﻣﻦ 1.3 ﻣﻠﯿﻮن ﺷﺨﺺ ﺳﻨﻮﯾﺎ ﻓﻲ ﺣﻮادث اﻟﻤﺮور، وﯾﺮﺟﻊ ذﻟﻚ ﻓﻲ اﻟﻐﺎﻟﺐ إﻟﻰ اﻹھﻤﺎل اﻟﺒﺸﺮي. ﺗﻮاﺟﮫ اﻟﺒﯿﺌﺎت اﻟﺤﻀﺮﯾﺔ اﻟﻤﻌﻘﺪة، اﻟﺘﻲ ﺗﺘﻤﯿﺰ ﺑﺘﺪﻓﻖ ﺣﺮﻛﺔ اﻟﻤﺮور اﻟﻤﺨﺘﻠﻂ اﻟﺬي ﯾﺸﻤﻞ اﻟﻤﺮﻛﺒﺎت اﻟﺘﻲ ﯾﻘﻮدھﺎ اﻹﻧﺴﺎن واﻟﻤﺮﻛﺒﺎت اﻟﻤﺘﺼﻠﺔ واﻟﻤﺴﺘﻘﻠﺔ، وأﻧﻤﺎط اﻟﻤﺮور اﻟﻤﻌﻘﺪة، واﻟﺘﻐﯿﯿﺮات اﻟﻤﺘﻜﺮرة ﻟﻠﻤﺴﺎرات، واﻟﺴﺮﻋﺎت اﻟﺒﻄﯿﺌﺔ، ﺗﺤﺪﯾﺎت ﻣﺘﺼﺎﻋﺪة ﺗﺘﻌﻠﻖ ﺑﺎﻟﺤﻮادث اﻟﻤﺮورﯾﺔ واﻻزدﺣﺎم. وﺗﺆدي ھﺬه اﻟﺘﺤﺪﯾﺎت إﻟﻰ إﺿﺎﻋﺔ اﻟﻮﻗﺖ، وزﯾﺎدة اﺳﺘﮭﻼك اﻟﻮﻗﻮد، وارﺗﻔﺎع ﻣﺴﺘﻮﯾﺎت اﻧﺒﻌﺎث اﻟﺘﻠﻮث. وﻣﻦ ﺛﻢ، ﻓﻤﻦ اﻟﻤﺘﻮﻗﻊ أن ﯾﺆدي ﺗﻄﻮﯾﺮ ﻧﺴﺨﺔ آﻣﻨﺔ وﻗﻮﯾﺔ ﻣﻦ اﻟﻘﯿﺎدة اﻟﺬاﺗﯿﺔ اﻟﺘﻌﺎوﻧﯿﺔ، واﻟﻤﻌﺮوﻓﺔ ﺑﺎﺳﻢ ﻗﯿﺎدة اﻟﻘﺎﻓﻠﺔ، إﻟﻰ ﺗﻌﺰﯾﺰ اﻟﺴﻼﻣﺔ ﻋﻠﻰ اﻟﻄﺮق، وﻛﻔﺎءة اﻟﻤﺮور، واﻟﺘﻨﻘﻞ ﺑﺸﻜﻞ ﻋﺎم ﻣﻦ ﺧﻼل ﻧﻘﻞ اﻟﺘﺤﻜﻢ ﻓﻲ اﻟﻘﯿﺎدة ﻣﻦ اﻟﺒﺸﺮ إﻟﻰ اﻷﻧﻈﻤﺔ اﻟﺬاﺗﯿﺔ. ﻓﻲ ﺣﯿﻦ أن ﺣﻠﻮل اﻟﻘﯿﺎدة اﻟﺬاﺗﯿﺔ اﻟﺘﻌﺎوﻧﯿﺔ ﻣﻮﺟﻮدة ﻣﻨﺬ ﺑﻌﺾ اﻟﻮﻗﺖ، إﻻ أن اﻟﺘﺮﻛﯿﺰ ﻛﺎن ﻓﻲ اﻟﻐﺎﻟﺐ ﻋﻠﻰ ﻣﺠﺎﻻت اﻟﻤﺸﺎﻛﻞ اﻟﻜﻼﺳﯿﻜﯿﺔ اﻟﻤﺘﻤﺜﻠﺔ ﻓﻲ اﻧﺨﻔﺎض ﻣﺴﺘﻮﯾﺎت اﻷﺗﻤﺘﺔ وﺷﺒﻜﺎت اﻟﻤﺮﻛﺒﺎت ﻋﻠﻰ اﻟﻄﺮق اﻟﺴﺮﯾﻌﺔ. ﻋﻠﻰ اﻟﺮﻏﻢ ﻣﻦ ﺗﺨﺼﯿﺺ أﺑﺤﺎث ﻛﺒﯿﺮة ﻟﻘﯿﺎدة ﻗﻮاﻓﻞ اﻟﺸﺎﺣﻨﺎت اﻟﺜﻘﯿﻠﺔ، ﻣﻤﺎ ﯾﺪل ﻋﻠﻰ ﻓﻮاﺋﺪھﺎ ﻋﻠﻰ اﻟﻄﺮق اﻟﺴﺮﯾﻌﺔ، إﻻ أن اﻟﺘﺤﺪﯾﺎت ﺗﻨﺸﺄ ﻋﻨﺪ ﺗﻮﺳﯿﻊ وظﺎﺋﻒ اﻟﻘﯿﺎدة اﻟﺘﻌﺎوﻧﯿﺔ ﻟﺘﺸﻤﻞ اﻟﻤﺮﻛﺒﺎت اﻟﺼﻐﯿﺮة ﺧﻔﯿﻔﺔ اﻟﻮزن ﻓﻲ اﻟﻤﻨﺎطﻖ اﻟﺤﻀﺮﯾﺔ. وﺑﻌﺪ ﺗﺴﻠﯿﻂ اﻟﻀﻮء ﻋﻠﻰ ﻣﺜﻞ ھﺬه اﻟﺘﺤﺪﯾﺎت، ﯾﺒﺮر ھﺬا اﻟﻌﻤﻞ اﻟﺤﺎﺟﺔ إﻟﻰ ﻧﺴﺨﺔ ﻣﺘﻄﻮرة ﻣﻦ اﻟﻘﯿﺎدة اﻟﺬاﺗﯿﺔ اﻟﺘﻌﺎوﻧﯿﺔ. اﻟﺘﺮﻛﯿﺰ اﻷﺳﺎﺳﻲ ﻟﮭﺬه اﻷطﺮوﺣﺔ ھﻮ اﻟﺘﺤﻘﯿﻖ واﻟﺘﻐﻠﺐ ﻋﻠﻰ اﻟﻘﯿﻮد واﻟﺘﺤﺪﯾﺎت اﻟﻘﺎﺋﻤﺔ اﻟﻤﺮﺗﺒﻄﺔ ﺑﻘﯿﺎدة اﻟﻘﻮاﻓﻞ ﻓﻲ اﻟﻤﻨﺎطﻖ اﻟﺤﻀﺮﯾﺔ ﻣﻦ ﺧﻼل اﻗﺘﺮاح أطﺮ ﻧﻈﺮﯾﺔ ﺟﺪﯾﺪة. ﻓﮭﻮ ﯾﻘﺪم ﻣﻜﻮﻧﺎت ﺣﻠﻮل ﻣﺘﻜﺎﻣﻠﺔ ﻣﺼﻤﻤﺔ ﺧﺼﯿﺼًﺎ ﻟﺘﻤﻜﯿﻦ اﻟﻘﻮاﻓﻞ اﻟﺤﻀﺮﯾﺔ، ﻣﻊ ﺗﺼﻮر ﻣﺴﺘﻘﺒﻞ ﺗﺼﺒﺢ ﻓﯿﮫ ﻗﯿﺎدة اﻟﻘﻮاﻓﻞ ﺣﻼً ﻣﺮﺑﺤًﺎ ﻟﻠﺠﺎﻧﺒﯿﻦ - ﻣﻔﯿﺪًا ﻟﻠﺒﯿﺌﺔ وﻧﻈﺎم اﻟﻨﻘﻞ اﻟﺠﻤﺎﻋﻲ وأﺻﺤﺎب اﻟﻤﺮﻛﺒﺎت اﻟﻔﺮدﯾﺔ، ﻣﻤﺎ ﯾﺴﺎھﻢ ﻓﻲ ﺗﺤﻘﯿﻖ أھﺪاف ﺗﺤﻘﯿﻖ اﻟﻤﺴﺘﻮى اﻟﺨﺎﻣﺲ ﻣﻦ اﻟﻘﯿﺎدة اﻟﺬاﺗﯿﺔ. وھﺬا ﯾﻌﻨﻲ أﻧﮫ ﯾﺘﻢ اﻟﺘﺤﻘﯿﻖ ﻓﻲ ﻛﯿﻔﯿﺔ إﺿﺎﻓﺔ ﻗﯿﺎدة اﻟﻘﻮاﻓﻞ إﻟﻰ اﻟﺴﻼﻣﺔ واﻟﻜﻔﺎءة ﻋﻠﻰ اﻟﻄﺮق، واﻟﺘﻲ ﺗﺘﺮﺟﻢ إﻟﻰ ﻋﺪد ﻣﻦ اﻟﻮظﺎﺋﻒ اﻟﻤﻮﺿﻮﻋﯿﺔ اﻟﻤﺤﻠﯿﺔ. وﯾُﻌﺘﻘﺪ أن ھﺬا اﻟﻌﻤﻞ ھﻮ ﻣﻦ ﺑﯿﻦ اﻷﻋﻤﺎل اﻟﺮاﺋﺪة اﻟﺘﻲ ﺗﺪرس ﺟﻮاﻧﺐ اﻟﻘﯿﺎدة اﻟﺬاﺗﯿﺔ اﻟﺘﻌﺎوﻧﯿﺔ، وﻻ ﺗﺘﻨﺎول اﻟﺘﻌﺎون ﻟﻔﺘﺮة زﻣﻨﯿﺔ ﻗﺼﯿﺮة ﻓﺤﺴﺐ، ﺑﻞ ﻓﻮاﺋﺪه ﻋﻠﻰ ﻣﺴﺘﻮى اﻟﻤﺮﻛﺒﺎت اﻟﻤﺠﺘﻤﻌﯿﺔ واﻟﻔﺮدﯾﺔ. ﯾﺘﻢ دﻋﻢ ھﺬا اﻻدﻋﺎء ﻣﻦ ﺧﻼل اﺳﺘﻄﻼﻋﺎت واﺳﻌﺔ اﻟﻨﻄﺎق ﻟﻸدﺑﯿﺎت اﻟﺘﻲ ﺗﻢ إﺟﺮاؤھﺎ ﻟﺘﺴﻠﯿﻂ اﻟﻀﻮء ﻋﻠﻰ اﻟﺜﻐﺮات واﻟﺘﻤﯿﯿﺰ ﺑﯿﻦ ﻣﻜﺎﻧﺔ ھﺬا اﻟﻌﻤﻞ، واﻟﺬي ﯾﺘﻢ ﻧﺸﺮه ﻓﻲ أﻣﺎﻛﻦ ﻣﺮﻣﻮﻗﺔ. ﺗﻐﻄﻲ ھﺬه اﻷطﺮوﺣﺔ اﻷﺑﻌﺎد اﻟﺮﺋﯿﺴﯿﺔ اﻟﺜﻼﺛﺔ اﻟﺘﺎﻟﯿﺔ (I: ﺗﺤﺪﯾﺪ وﻧﻤﺬﺟﺔ وﻣﺤﺎﻛﺎة اﻟﺒﯿﺌﺔ اﻟﺘﻲ ﺗﻠﺘﻘﻂ دﯾﻨﺎﻣﯿﻜﯿﺎت اﻟﺒﯿﺌﺔ اﻟﺤﻀﺮﯾﺔ اﻟﻤﻌﻘﺪة. ﺗﻢ ﺗﺼﻤﯿﻢ اﻟﺒﯿﺌﺔ ﺑﺎﺳﺘﺨﺪام ﻧﻤﻮذج رﺳﻮﻣﻲ اﺣﺘﻤﺎﻟﻲ (PGM)، واﻣﺘﺪاد ﻟﺘﻌﻠﻢ اﻟﺴﯿﺎرة إﻟﻰ ﺗﻢ ﺗﻄﻮﯾﺮ ﻣﺤﺎﻛﻲ (CARLA)، اﻟﻤﺴﻤﻰ CARLA+، ﻣﻦ ﺧﻼل دﻣﺞ إطﺎر ﻋﻤﻞPMG. ﯾﻮﻓﺮ ھﺬا اﻟﻨﮭﺞ اﻟﻤﻘﺘﺮح إطﺎراً ﻣﻮﺣﺪًا ﻷﺗﻤﺘﺔ ﺳﻠﻮك اﻟﺒﯿﺌﺎت اﻟﺪﯾﻨﺎﻣﯿﻜﯿﺔ ﺑﺎﺳﺘﺨﺪام PGMs. (II: ﻧﻤﺬﺟﺔ ﻗﯿﺎدة اﻟﻘﻮاﻓﻞ: ﺗﻢ ﺗﺼﻤﯿﻢ ﻗﯿﺎدة اﻟﻘﻮاﻓﻞ ﻣﻦ ﺧﻼل اﻻﺳﺘﻔﺎدة ﻣﻦ ﻧﻈﺮﯾﺔ اﻟﻠﻌﺒﺔ اﻟﺘﺤﺎﻟﻔﯿﺔ ﻓﻲ اﻟﻤﻨﺎطﻖ اﻟﺤﻀﺮﯾﺔ. ﺗﻢ ﺗﺼﻤﯿﻢ وﺗﻄﻮﯾﺮ وظﺎﺋﻒ اﻟﻤﺮاﻓﻖ اﻟﺠﺪﯾﺪة اﻟﺘﻲ ﺗﻠﺘﻘﻂ اﻟﻤﻌﻠﻤﺎت ذات اﻟﺼﻠﺔ واﻟﻔﻮاﺋﺪ اﻟﻤﺘﻨﻮﻋﺔ ﻟﻘﯿﺎدة اﻟﻘﺎﻓﻠﺔ. ﯾﻤﻜﻦ ﻟﻺطﺎر اﻟﻨﻈﺮي اﻟﻤﻘﺘﺮح ﺗﺤﺪﯾﺪ وﺿﻊ اﻟﺴﻔﺮ - اﻟﺬي ﯾﻘﻮده اﻟﺘﺤﺎﻟﻒ أو اﻟﺴﻔﺮ ﺑﻤﻔﺮده – واﻟﺬي ﯾﻜﻮن ﻣﻔﯿﺪًا ﻟﻠﻤﺮﻛﺒﺔ ﻓﻲ ﺑﯿﺌﺔ ﻣﻌﯿﻨﺔ. وھﺬا ﯾﺸﻜﻞ أﯾﻀًﺎ أﺳﺎس اﻟﻤﺴﺎھﻤﺔ اﻟﺘﺎﻟﯿﺔ. (III: ﻧﻤﺬﺟﺔ اﻟﻔﻮاﺋﺪ اﻟﻤﺠﺘﻤﻌﯿﺔ واﻟﻔﺮدﯾﺔ ﻟﻘﯿﺎدة اﻟﻘﻮاﻓﻞ ﻋﻠﻰ ﻣﺴﺘﻮى اﻟﻤﺮﻛﺒﺎت: ﺗﻢ اﻗﺘﺮاح إطﺎر ﺗﺤﻔﯿﺰي ﻧﻈﺮي ﻟﺪراﺳﺔ ﻛﯿﻔﯿﺔ ﺗﺤﻔﯿﺰ اﻋﺘﻤﺎد ﻗﯿﺎدة اﻟﻘﻮاﻓﻞ ﻟﺘﻌﺰﯾﺰ ﻗﯿﺎدة اﻟﻘﻮاﻓﻞ ﻓﻲ ﺑﯿﺌﺔ ﻣﺮورﯾﺔ ﻣﺨﺘﻠﻄﺔ. ﯾﺘﻢ اﺳﺘﺨﺪام ﻧﻤﻮذج اﻟﺮﺳﻢ اﻟﺘﺨﻄﯿﻄﻲ اﻷﺳﺎﺳﻲ، وﻧﻤﻮذج VT-Micro، وإطﺎر ﻧﻈﺮﯾﺔ اﻟﻠﻌﺒﺔ اﻻﺋﺘﻼﻓﯿﺔ ﻟﻨﻤﺬﺟﺔ اﻟﻔﻮاﺋﺪ ﻋﻠﻰ اﻟﻤﺴﺘﻮﯾﯿﻦ اﻟﻤﺠﺘﻤﻌﻲ واﻟﻔﺮدي. ﺗﻮﺿﺢ اﻟﻨﺘﺎﺋﺞ اﻟﺘﺠﺮﯾﺒﯿﺔ اﻟﻤﺰاﯾﺎ اﻟﻮاﺿﺤﺔ ﻟﺴﻔﺮ اﻟﻘﺎﻓﻠﺔ ﻣﻘﺎرﻧﺔ ﺑﺎﻟﺴﻔﺮ اﻟﻔﺮدي. وﺧﻠﺺ إﻟﻰ أن ﺳﻔﺮ اﻟﻘﻮاﻓﻞ ﻣﻔﯿﺪ ﻟﻘﺎﻓﻠﺔ ﻣﻜﻮﻧﺔ ﻣﻦ ﺳﯿﺎرﺗﯿﻦ إﻟﻰ ﺳﺖ ﻣﺮﻛﺒﺎت ﻣﻊ ﺗﺒﺎﻋﺪ ﺑﯿﻦ اﻟﻤﺮﻛﺒﺎت أﻗﻞ ﻣﻦ أرﺑﻌﺔ أﻣﺘﺎر، ﻣﻊ اﻷﺧﺬ ﻓﻲ اﻻﻋﺘﺒﺎر اﺳﺘﻘﺮار ﺗﺪﻓﻖ ﺣﺮﻛﺔ اﻟﻤﺮور وﻗﯿﻮد اﻟﺒﯿﺌﺔ اﻟﺤﻀﺮﯾﺔ. ﯾﺘﯿﺢ اﻟﺴﻔﺮ ﻓﻲ ﻗﺎﻓﻠﺔ ﻟﻠﻤﺮﻛﺒﺎت ﺗﻮﻓﯿﺮ اﻟﻮﻗﻮد وﺗﻘﻠﯿﻞ وﻗﺖ اﻟﺴﻔﺮ وﺗﻌﺰﯾﺰ اﻟﺴﻼﻣﺔ واﻟﺮاﺣﺔ. وﻣﻦ اﻟﺠﺪﯾﺮ ﺑﺎﻟﺬﻛﺮ أن ﻧﺘﺎﺋﺞ اﻟﺒﺤﺚ ﺗﺆﻛﺪ أن ﺗﺤﻘﯿﻖ اﻟﻔﻮاﺋﺪ اﻟﻜﺒﯿﺮة ﻟﻠﻘﯿﺎدة اﻟﻘﺎﺋﻤﺔ ﻋﻠﻰ اﻟﺘﺤﺎﻟﻒ ﯾﺴﺘﻠﺰم إﯾﺠﺎد اﻟﺘﻮازن اﻟﺼﺤﯿﺢ ﺑﯿﻦ ﺳﺮﻋﺔ اﻟﺴﯿﺎرة، واﻟﻤﺴﺎﻓﺔ ﺑﯿﻦ اﻟﻤﺮﻛﺒﺎت، وﺣﺠﻢ اﻟﺘﺤﺎﻟﻒ.

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