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Robust road-boundary extraction/tracking is one of the main problems in autonomous roadway navigation. Although the road boundary can be defined by various means including lane markings, curbs, and borders of vegetation, this paper focuses on road-boundary tracking using curbs. A vehicle-mounted (downward tilted) 2-D laser-measurement system is utilized to detect the curbs. The tracking problem is difficult because both the vehicle is moving and the target is disappearing, reappearing, and maneuvering in clutter. The interacting-multiple-model probabilistic-data-association filter (IMMPDAF) is proposed to solve the problems after detailed analysis. Track initiation, confirmation, and deletion are performed using the sequential-probability-ratio test. Extensive simulations followed by experiments in a campus environment show that the road-boundary tracking utilizing curbs is possible and robust through IMMPDAF. [ABSTRACT FROM AUTHOR]

In this paper, an iterative learning approach for the freeway density control under ramp metering and speed regulation is developed in a macroscopic level traffic environment. Rigorous analyses show that the proposed learning control schemes guarantee the asymptotic convergence of the traffic density to the desired one. The two major features of the learning-based density control are 1) less prior modeling knowledge required in the control system design and 2) the ability to reject exogenous traffic perturbations. The control schemes are applied to a freeway model, and simulation results confirm the efficacy of the proposed approach. [ABSTRACT FROM AUTHOR]