TY - THES AU - Cao, Hang TI - Investigating autonomous vehicle navigating module in roundabout considering safety and mobility PB - Budapesti Műszaki és Gazdaságtudományi Egyetem PY - 2023 SP - 131 UR - https://m2.mtmt.hu/api/publication/34177702 ID - 34177702 LA - English DB - MTMT ER - TY - JOUR AU - Cao, Hang TI - How to use cognitive tools to increase sustainability of elderly people’s mobility? JF - COGNITIVE SUSTAINABILITY J2 - COGSUST VL - 1 PY - 2022 IS - 4 SN - 2939-5240 DO - 10.55343/cogsust.26 UR - https://m2.mtmt.hu/api/publication/33533085 ID - 33533085 LA - English DB - MTMT ER - TY - JOUR AU - Cao, Hang AU - Zöldy, Máté TI - Implementing B-Spline Path Planning Method Based on Roundabout Geometry Elements JF - IEEE ACCESS J2 - IEEE ACCESS VL - 10 PY - 2022 SP - 81434 EP - 81446 PG - 13 SN - 2169-3536 DO - 10.1109/ACCESS.2022.3193667 UR - https://m2.mtmt.hu/api/publication/33057955 ID - 33057955 N1 - Funding Agency and Grant Number: National Research Development and Innovation Fund, TKP2020 National Challenges Subprogram through TKP2020 National Challenges Subprogram based on the charter of bolster through Ministry for Innovation and Technology [BME-NC] Funding text: This work was carried out at the Budapest University of Technology and Economics supported by the National Research Development and Innovation Fund, TKP2020 National Challenges Subprogram based on the charter of bolster issued by the National Research Development and Innovation Office through the auspices of the Ministry for Innovation and Technology under Grant No. BME-NC. AB - This paper presents a parametric B-spline-based path planning approach for roundabout exit traverse planners to handle successively generated trajectories. A roundabout is a complex driving scene because of its large curvature and the varying intersection leg angles. A few studies focus on the relationship between roundabout intersection leg angle and path performance. This paper discusses B-spline advantages to curve road conditions and the impact of roundabout geometry elements on path planning performance. Knot vectors are defined, and control points are calculated to meet the requirements for generating paths that fit in different roundabout direction maneuvers. Four countries’ roundabout design standards are summarized with their unique geometry elements. Additionally, the Stanley tracking controller was used to calculate the steering behavior. The impacts of maneuver directions and intersection angles are discussed. It is explained stepwise how the maneuver system framework was built and what notable impacts the geometric structure of the roundabout has on the paths. LA - English DB - MTMT ER - TY - CHAP AU - Cao, Hang AU - Zöldy, Máté TI - Discussion on multilane roundabout driving strategy. Two-lane roundabout entrance emergency collision avoidance implementation TS - Two-lane roundabout entrance emergency collision avoidance implementation T2 - 12th IEEE International Conference on Cognitive Infocommunications (CogInfoCom 2021) PB - IEEE CY - Online kiadás SN - 9781665424943 PY - 2021 SP - 959 EP - 962 PG - 4 UR - https://m2.mtmt.hu/api/publication/32464216 ID - 32464216 AB - In this paper, we discuss the driving strategy and behavior framework that can significantly improve the transaction of traffic in roundabout and mobility for autonomous vehicles. A reference planning layer first generates kinematically on the road. Then a behavioral planning layer takes conflict points and dynamic obstacles into account, make the foundation for vehicles interaction and communication. This paper is structured as follows: Sections I emphasize roundabouts' role and analyze the unique structure and characteristics. It is responsible for designing a scenario model that is intelligible for decision-making at roundabouts. A representation based on a multi-level structure is proposed. Section II proposes the driving behavior action process framework in a hierarchical architecture, based on the following structure: Mission - Maneuver - Motion. Section Ⅲ focuses on an emergency case at the entrance conflict area and shows how the Bezier curve replans the path in realtime. This ensures safety and traffic rules compliance while offering generalization capabilities to address new complex scenarios. Conclusions and future works are proposed in section IV. LA - English DB - MTMT ER - TY - JOUR AU - Cao, Hang AU - Zöldy, Máté TI - MPC Tracking Controller Parameters Impacts in Roundabouts JF - MATHEMATICS J2 - MATHEMATICS-BASEL VL - 9 PY - 2021 IS - 12 PG - 18 SN - 2227-7390 DO - 10.3390/math9121394 UR - https://m2.mtmt.hu/api/publication/32072479 ID - 32072479 AB - The work is proposed to design a controller of the form known as the roundabout scenario trajectory tracking problem. The road condition is a four-leg, single-lane roundabout; the reference path is given. Due to the decision choice of exits, the MPC tracking controller is used to test the effect of weight parameter and target speed on the performance of the tracking controller. Two sets of test cases are proposed to make the experimental comparison, see the relationship between the control parameters and road conditions (different curvature path), and also see how the weight parameters Q and R and sample time affect the tracking performance. Our work, MPC controller utilization in a roundabout, plays an essential role with the increasing autonomy of vehicles. © 2021 by the authors. LA - English DB - MTMT ER - TY - JOUR AU - Cao, Hang AU - Zöldy, Máté TI - An Investigation of Autonomous Vehicle Roundabout Situation JF - PERIODICA POLYTECHNICA TRANSPORTATION ENGINEERING J2 - PERIOD POLYTECH TRANSP ENG VL - 48 PY - 2020 IS - 3 SP - 236 EP - 241 PG - 6 SN - 0303-7800 DO - 10.3311/PPtr.13762 UR - https://m2.mtmt.hu/api/publication/30699079 ID - 30699079 N1 - Cited By :6 Export Date: 19 July 2022 CODEN: PPTED Correspondence Address: Zöldy, M.; Department of Automotive Technologies, Stoczek J. u. 6., Hungary; email: mate.zoldy@auto.bme.hu AB - The aim of this paper is to evaluate the impact of connected autonomous behavior in real vehicles on vehicle fuel consumption and emission reductions. Authors provide a preliminary theoretical summary to assess the driving conditions of autonomous vehicles in roundabout, which attempts exploring the impact of driving behavior patterns on fuel consumption and emissions, and including other key factors of autonomous vehicles to reduce fuel consumption and emissions. After summarizing, driving behavior, effective in-vehicle systems, both roundabout physical parameters and vehicle type are all play an important role in energy using. ZalaZONE’s roundabout is selected for preliminary test scenario establishment, which lays a design foundation for further in-depth testing. LA - English DB - MTMT ER - TY - CHAP AU - Tollner, Dávid AU - Cao, Hang AU - Zöldy, Máté ED - Szakál, Anikó TI - Artificial Intelligence Based Decision Making of Autonomous Vehicles before Entering Roundabout T2 - IEEE Joint 19th International Symposium on Computational Intelligence and Informatics and 7th IEEE International Conference on Recent Achievements in Mechatronics, Automation, Computer Sciences and Robotics : CINTI-MACRo 2019 PB - IEEE Hungary Section CY - New York, New York SN - 9781728156262 T3 - International Symposium on Computational Intelligence and Informatics, CINTI, ISSN 2380-8586 PY - 2019 SP - 181 EP - 186 PG - 6 DO - 10.1109/CINTI-MACRo49179.2019.9105322 UR - https://m2.mtmt.hu/api/publication/30942664 ID - 30942664 LA - English DB - MTMT ER -