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1. Online predictive connected nd automated eco-driving on signalized arterials considering traffic control devices and road geometry constraints under uncertain traffic conditions

   https://doi.org/https://doi.org/10.1016/j.trb.2020.12.009  

   Zhao, S; Zhang, K. (March 2021, 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. 

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2. Multi-objective coordinated control strategy for mixed traffic with partially connected and automated vehicles in urban corridors

   https://doi.org/10.1016/j.physa.2023.129485  

   Wan, Changxin; Shan, Xiaonian; Hao, Peng; Wu, Guoyuan (February 2024, Physica A: Statistical Mechanics and its Applications)

   In the urban corridor with a mixed traffic composition of connected and automated vehicles (CAVs) alongside human-driven vehicles (HDVs), vehicle operations are intricately influenced by both individual driving behaviors and the presence of signalized intersections. Therefore, the development of a coordinated control strategy that effectively accommodates these dual factors becomes imperative to enhance the overall quality of traffic flow. This study proposes a bi-level structure crafted to decouple the joint effects of the vehicular driving behaviors and corridor signal offsets setting. The objective of this structure is to optimize both the average travel time (ATT) and fuel consumption (AFC). At the lower-level, three types of car-following models while considering driving modes are presented to illustrate the desired driving behaviors of HDVs and CAVs. Moreover, a trigonometry function method combined with a rolling horizon scheme is proposed to generate the eco-trajectory of CAVs in the mixed traffic flow. At the upper-level, a multi-objective optimization model for corridor signal offsets is formulated to minimize ATT and AFC based on the lower-level simulation outputs. Additionally, a revised Non-Dominated Sorting Genetic Algorithm II (NSGA-II) is adopted to identify the set of Pareto-optimal solutions for corridor signal offsets under different CAV penetration rates (CAV PRs). Numerical experiments are conducted within a corridor that encompasses three signalized intersections. The performance of our proposed eco-driving strategy is validated in comparison to the intelligent driver model (IDM) and green light optimal speed advisory (GLOSA) algorithm in single-vehicle simulation. Results show that our proposed strategy yields reduced travel time and fuel consumption to both IDM and GLOSA. Subsequently, the effectiveness of our proposed coordinated control strategy is validated across various CAV PRs. Results indicated that the optimal AFC can be reduced by 4.1%–32.2% with CAV PRs varying from 0.2 to 1, and the optimal ATT can be saved by 2.3% maximum. Furthermore, sensitivity analysis is conducted to evaluate the impact of CAV PRs and V/C ratios on the optimal ATT and AFC. 

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3. Cooperative Platooning with Mixed Traffic on Urban Arterial Roads

   https://doi.org/10.1109/IV51971.2022.9827105  

   Mu, Zeyu; Chen, Zheng; Ryu, Seunghan; Avedisov, Sergei S.; Guo, Rui; Park, B. Brian (January 2022, 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. 

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4. KI-GAN: Knowledge-Informed Generative Adversarial Networks for Enhanced Multi-Vehicle Trajectory Forecasting at Signalized Intersections

   https://doi.org/10.1109/cvprw63382.2024.00706  

   Wei, Chuheng; Wu, Guoyuan; Barth, Matthew J; Abdelraouf, Amr; Gupta, Rohit; Han, Kyungtae (June 2024, IEEE)

   Reliable prediction of vehicle trajectories at signalized intersections is crucial to urban traffic management and autonomous driving systems. However, it presents unique challenges, due to the complex roadway layout at intersections, involvement of traffic signal controls, and interactions among different types of road users. To address these issues, we present in this paper a novel model called Knowledge-Informed Generative Adversarial Network (KI-GAN), which integrates both traffic signal information and multi-vehicle interactions to predict vehicle trajectories accurately. Additionally, we propose a specialized attention pooling method that accounts for vehicle orientation and proximity at intersections. Based on the SinD dataset, our KI-GAN model is able to achieve an Average Displacement Error (ADE) of 0.05 and a Final Displacement Error (FDE) of 0.12 for a 6-second observation and 6-second prediction cycle. When the prediction window is extended to 9 seconds, the ADE and FDE values are further reduced to 0.11 and 0.26, respectively. These results demonstrate the effectiveness of the proposed KI-GAN model in vehicle trajectory prediction under complex scenarios at signalized intersections, which represents a significant advancement in the target field. 

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5. Overtaking-Enabled Eco-Approach Control at Signalized Intersections for Connected and Automated Vehicles

   https://doi.org/10.1109/TITS.2023.3328022  

   Dong, Haoxuan; Zhuang, Weichao; Wu, Guoyuan; Li, Zhaojian; Yin, Guodong; Song, Ziyou (May 2024, IEEE Transactions on Intelligent Transportation Systems)

   Preceding vehicles typically dominate the movement of following vehicles in traffic systems, thereby significantly influencing the efficacy of eco-driving control that concentrates on vehicle speed optimization. To potentially mitigate the negative effect of preceding vehicles on eco-driving control at the signalized intersection, this study proposes an overtaking-enabled eco-approach control (OEAC) strategy. It combines driving lane planning and speed optimization for connected and automated vehicles to relax the first-in-first-out queuing policy at the signalized intersection, minimizing the host vehicle’s energy consumption and travel delay. The OEAC adopts a two-stage receding horizon control framework to derive optimal driving trajectories for adapting to dynamic traffic conditions. In the first stage, the driving lane optimization problem is formulated as a Markov decision process and solved using dynamic programming, which takes into account the uncertain disturbance from preceding vehicles. In the second stage, the vehicle’s speed trajectory with the minimal driving cost is optimized rapidly using Pontryagin’s minimum principle to obtain the closed-form analytical optimal solution. Extensive simulations are conducted to evaluate the effectiveness of the OEAC. The results show that the OEAC is excellent in driving cost reduction over constant speed and regular eco-approach and departure strategies in various traffic scenarios, with an average improvement of 20.91% and 5.62%, respectively. 

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