In this study, an obstacle avoidance controller based on nonlinear model predictive control is designed in autonomous vehicle navigation. The reference trajectory is predefined using a sigmoid function in accordance with road conditions. When obstacles suddenly appear on a predefined trajectory, the reference trajectory should be adjusted dynamically. For dynamic obstacles, a moving trend function is constructed to predict the obstacle position variances in the predictive horizon. Furthermore, a risk index is constructed and introduced into the cost function to realize collision avoidance by combining the relative position relationship between vehicle and obstacles in the predictive horizon. Meanwhile, lateral acceleration constraint is also considered to ensure vehicle stability. Finally, trajectory dynamic planning and tracking are integrated into a single-level model predictive controller. Simulation tests reveal that the designed controller can ensure real-time trajectory tracking and collision avoidance.INDEX TERMS Autonomous vehicle, dynamic obstacles, moving trend function, dynamic planning and tracking, single-level controller.

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Online video chat services such as Chatroulette and Omegle randomly match users in video chat sessions and have become increasingly popular, with tens of thousands of users online at anytime during a day. Our interest is in examining user behavior in the growing domain of mobile video, and in particular how users behave in such video chat services as they are extended onto mobile clients. To date, over four thousand people have downloaded and used our Androidbased mobile client, which was developed to be compatible with an existing video chat service. The paper provides a first-ever detailed large scale study of mobile user behavior in a random video chat service over a three week period. This study identifies major characteristics such as mobile user session durations, time of use, demographic distribution and the large number of brief sessions that users click through to find good matches. Through content analysis of video and audio, as well as analysis of texting and clicking behavior, we discover key correlations among these characteristics, e.g., normal mobile users are highly correlated with using the front camera and with the presence of a face, whereas misbehaving mobile users have a high negative correlation with the presence of a face.

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