skip to main content

Explore Research Products in the NSF-PAR

Title: Platoon Centered Control for Eco-driving at Signalized Intersection Built upon Hybrid MPC System
Even though extensive studies have developed various eco-driving strategies for vehicle platoon to travel on urban roads with traffic signals, most of them focus on vehicle-level trajectory planning or speed advisory rather than real-time platoon-level closed-loop control. In addition, majority of existing efforts neglect the traffic and vehicle dynamic uncertainties to avoid the modeling and solution complexity. To make up these research gaps, this study develops a system optimal vehicle platooning control for eco-driving (SO-ED), which can guide a mixed flow platoon to smoothly run on the urban roads and pass the signalized intersections without sudden deceleration or red idling. The SO-ED is mathematically implemented by a hybrid model predictive control (MPC) system, including three MPC controllers and an MINLP platoon splitting switching signal. Based on the features of the system, this study uses active set method to solve the large-scale MPC controllers in real time. The numerical experiments validate the merits of the proposed SO-ED in smoothing the traffic flow and reducing energy consumption and emission at urban signalized intersections.  more » « less
Award ID(s):
1901994
NSF-PAR ID:
10415654
Author(s) / Creator(s):
;
Date Published:
Journal Name:
2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)
Page Range / eLocation ID:
667 to 672
Format(s):
Medium: X
Sponsoring Org:
National Science Foundation
More Like this
  1. ; ( , Transportation research)
    null (Ed.)
    For energy-efficient Connected and Automated Vehicle (CAV) Eco-driving control on signalized arterials under uncertain traffic conditions, this paper explicitly considers traffic control devices (e.g., road markings, traffic signs, and traffic signals) and road geometry (e.g., road shapes, road boundaries, and road grades) constraints in a data-driven optimization-based Model Predictive Control (MPC) modeling framework. This modeling framework uses real-time vehicle driving and traffic signal data via Vehicle-to-Infrastructure (V2I) and Vehicle-to-Vehicle (V2V) communications. In the MPC-based control model, this paper mathematically formulates location-based traffic control devices and road geometry constraints using the geographic information from High-Definition (HD) maps. The location-based traffic control devices and road geometry constraints have the potential to improve the safety, energy, efficiency, driving comfort, and robustness of connected and automated driving on real roads by considering interrupted flow facility locations and road geometry in the formulation. We predict a set of uncertain driving states for the preceding vehicles through an online learning-based driving dynamics prediction model. We then solve a constrained finite-horizon optimal control problem with the predicted driving states to obtain a set of Eco-driving references for the controlled vehicle. To obtain the optimal acceleration or deceleration commands for the controlled vehicle with the set of Eco-driving references, we formulate a Distributionally Robust Stochastic Optimization (DRSO) model (i.e., a special case of data-driven optimization models under moment bounds) with Distributionally Robust Chance Constraints (DRCC) with location-based traffic control devices and road geometry constraints. We design experiments to demonstrate the proposed model under different traffic conditions using real-world connected vehicle trajectory data and Signal Phasing and Timing (SPaT) data on a coordinated arterial with six actuated intersections on Fuller Road in Ann Arbor, Michigan from the Safety Pilot Model Deployment (SPMD) project. 
    more » « less
  2. ; ; ; ; ; ( , 2022 IEEE Intelligent Vehicles Symposium (IV))
    In this paper, we showcase a framework for cooperative mixed traffic platooning that allows the platooning vehicles to realize multiple benefits from using vehicle-to- everything (V2X) communications and advanced controls on urban arterial roads. A mixed traffic platoon, in general, can be formulated by a lead and ego connected automated vehicles (CAVs) with one or more unconnected human-driven vehicles (UHVs) in between. As this platoon approaches an intersection, the lead vehicle uses signal phase and timing (SPaT) messages from the connected intersection to optimize its trajectory for travel time and energy efficiency as it passes through the intersection. These benefits carry over to the UHVs and the ego vehicle as they follow the lead vehicle. The ego vehicle then uses information from the lead vehicle received through basic safety messages (BSMs) to further optimize its safety, driving comfort, and energy consumption. This is accomplished by the recently designed cooperative adaptive cruise control with unconnected vehicles (CACCu). The performance benefits of our framework are proven and demonstrated by simulations using real-world platooning data from the CACC Field Operation Test (FOT) Dataset from the Netherlands. 
    more » « less
  3. ; ; ; ; ; ( , ArXivorg)
    New mobility concepts are at the forefront of research and innovation in smart cities. The introduction of connected and autonomous vehicles enables new possibilities in vehicle routing. Specifically, knowing the origin and destination of each agent in the network can allow for real-time routing of the vehicles to optimize network performance. However, this relies on individual vehicles being "altruistic" i.e., being willing to accept an alternative non-preferred route in order to achieve a network-level performance goal. In this work, we conduct a study to compare different levels of agent altruism and the resulting effect on the network-level traffic performance. Specifically, this study compares the effects of different underlying urban structures on the overall network performance, and investigates which characteristics of the network make it possible to realize routing improvements using a decentralized optimization router. The main finding is that, with increased vehicle altruism, it is possible to balance traffic flow among the links of the network. We show evidence that the decentralized optimization router is more effective with networks of high load while we study the influence of cities characteristics, in particular: networks with a higher number of nodes (intersections) or edges (roads) per unit area allow for more possible alternate routes, and thus higher potential to improve network performance. 
    more » « less
  4. ; ( , Transportation Research Record: Journal of the Transportation Research Board)
    Real-time traffic data at intersections is significant for development of adaptive traffic light control systems. Sensors such as infrared radiation and GPS are not capable of providing detailed traffic information. Compared with these sensors, surveillance cameras have the potential to provide real scenes for traffic analysis. In this research, a You Only Look Once (YOLO)-based algorithm is employed to detect and track vehicles from traffic videos, and a predefined road mask is used to determine traffic flow and turning events in different roads. A Kalman filter is used to estimate and predict vehicle speed and location under the condition of background occlusion. The result shows that the proposed algorithm can identify traffic flow and turning events at a root mean square error (RMSE) of 10. The result shows that a Kalman filter with an intersection of union (IOU)-based tracker performs well at the condition of background occlusion. Also, the proposed algorithm can detect and track vehicles at different optical conditions. Bad weather and night-time will influence the detecting and tracking process in areas far from traffic cameras. The traffic flow extracted from traffic videos contains road information, so it can not only help with single intersection control, but also provides information for a road network. The temporal characteristic of observed traffic flow gives the potential to predict traffic flow based on detected traffic flow, which will make the traffic light control more efficient. 
    more » « less
  5. ; ; ; ; ; ; ( , ACM Journal on Autonomous Transportation Systems)

    This work investigates traffic control via controlled connected and automated vehicles (CAVs) using novel controllers derived from the linear-quadratic regulator (LQR) theory. CAV-platoons are modeled as moving bottlenecks impacting the surrounding traffic with their speeds as control inputs. An iterative controller algorithm based on the LQR theory is proposed along with a variant that allows for penalizing abrupt changes in platoon speeds. The controllers use the Lighthill-Whitham-Richards (LWR) model implemented using an extended cell transmission model (CTM) which considers the capacity drop phenomenon for a realistic representation of traffic in congestion. The impact of various parameters of the proposed controller on the control performance is analyzed. The effectiveness of the proposed traffic control algorithms is tested using a traffic control example and compared with existing proportional-integral (PI) and model predictive control (MPC) controllers from the literature. A case study using the TransModeler traffic microsimulation software is conducted to test the usability of the proposed controller as well as existing controllers in a realistic setting and derive qualitative insights. It is observed that the proposed controller works well in both settings to mitigate the impact of the jam caused by a fixed bottleneck. The computation time required by the controller is also small making it suitable for real-time control.

     
    more » « less
  • Citation Formats
  • MLA
  • APA
  • Chicago
  • BibTeX
  • Save / Share this Record
  • Send to Email