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1.
As electric vehicles (EVs) have gained an increasing market penetration rate, the traffic on urban roads will tend to be a mix of traditional gasoline vehicles (GVs) and EVs. These two types of vehicles have different energy consumption characteristics, especially the high energy efficiency and energy recuperation system of EVs. When GVs and EVs form a platoon that is recognized as an energy-friendly traffic pattern, it is critical to holistically consider the energy consumption characteristics of all vehicles to maximize the energy efficiency benefit of platooning. To tackle this issue, this paper develops an optimal control model as a foundation to provide eco-driving suggestions to the mixed-traffic platoon. The proposed model leverages the promising connected vehicle technology assuming that the speed advisory system can obtain the information on the characteristics of all platoon vehicles. To enhance the model applicability, the study proposes two eco-driving advisory strategies based on the developed optimal control model. One strategy provides the lead vehicle an acceleration profile, while the other provides a set of targeted cruising speeds. The acceleration-based eco-driving advisory strategy is suitable for platoons with an automated leader, and the speed-based advisory strategy is more friendly for platoons with a human-operated leader. Results of numerical experiments demonstrate the significance when the eco-driving advisory system holistically considers energy consumption characteristics of platoon vehicles. 相似文献
2.
Information from connected vehicles, such as the position and speed of individual vehicles, can be used to optimize traffic operations at an intersection. This paper proposes such an algorithm for two one-way-streets assuming that only a certain percentage of cars are equipped with this technology. The algorithm enumerates different sequences of cars discharging from the intersection to minimize the objective function. Benefits of platooning (multiple cars consecutively discharging from a queue) and signal flexibility (adaptability to demand) are also considered. The goal is to gain insights about the value (in terms of delay savings) of using connected vehicle technology for intersection control.Simulations are conducted for different total demand values and demand ratios to understand the effects of changing the minimum green time at the signal and the penetration rate of connected cars. Using autonomous vehicle control systems, the signal could rapidly change the direction of priority without relying on the reaction of drivers. However, without this technology a minimum green time is necessary. The results of the simulations show that a minimum green time increases the delay only for the low and balanced demand scenarios. Therefore, the value of using cars with autonomous vehicle control can only be seen at intersections with this kind of demand patterns, and could result in up to 7% decrease in delay. On the other hand, using information from connected vehicles to better adapt the traffic signal has proven to be indeed very valuable. Increases in the penetration rate from 0% up to 60% can significantly reduce the average delay (in low demand scenarios a decrease in delay of up to 60% can be observed). That being said, after a penetration rate of 60%, while the delays continue to decrease, the rate of reduction decreases and the marginal value of information from communication technologies diminishes. Overall, it is observed that connected vehicle technology could significantly improve the operation of traffic at signalized intersections, at least under the proposed algorithm. 相似文献
3.
This work addresses the formation phase of automatic platooning. The objective is to optimally control the throttle of vehicles, with a given arbitrary initial condition, such that desired ground speed and inter-vehicular spacings are reached. The steering of the vehicles is also controlled, because the vehicles should track a desired path while forming the platoon. In order to address the platoon formation problem, a cooperative strategy is formed by constructing a discrete state space model which represents the dynamics of a set of n vehicles. Once this model is set, a control method known as Interpolating Control, which aims at regulating to the origin an uncertain and/or time-varying linear discrete-time system with state and control constraints, is utilized. The performance of this control method is evaluated and compared with other approaches such as Model Predictive Control (MPC).Simulations are conducted which suggest that the Interpolating Control approach can be seen as an alternative to optimization-based control schemes such as Model Predictive Control, especially for problems for which finding the optimal solution requires calculations, where the Interpolating Control approach can provide a straightforward sub-optimal solution.In the experimental part of this work, the control algorithms for the platoon formation and path tracking problems are combined, and tested in a laboratory environment, using three mobile robots equipped with wireless routers. Validation of the proposed models and control algorithms is achieved by successful experiments. 相似文献
4.
This paper proposes a novel approach to integrate optimal control of perimeter intersections (i.e. to minimize local delay) into the perimeter control scheme (i.e. to optimize traffic performance at the network level). This is a complex control problem rarely explored in the literature. In particular, modeling the interaction between the network level control and the local level control has not been fully considered. Utilizing the Macroscopic Fundamental Diagram (MFD) as the traffic performance indicator, we formulate a dynamic system model, and design a Model Predictive Control (MPC) based controller coupling two competing control objectives and optimizing the performance at the local and the network level as a whole. To solve this highly non-linear optimization problem, we employ an approximation framework, enabling the optimal solution of this large-scale problem to be feasible and efficient. Numerical analysis shows that by applying the proposed controller, the protected network can operate around the desired state as expressed by the MFD, while the total delay at the perimeter is minimized as well. Moreover, the paper sheds light on the robustness of the proposed controller. This multi-scale hybrid controller is further extended to a stochastic MPC scheme, where connected vehicles (CV) serve as the only data source. Hence, low penetration rates of CVs lead to strong noises in the controller. This is a first attempt to develop a network-level traffic control methodology by using the emerging CV technology. We consider the stochasticity in traffic state estimation and the shape of the MFD. Simulation analysis demonstrates the robustness of the proposed stochastic controller, showing that efficient controllers can indeed be designed with this newly-spread vehicle technology even in the absence of other data collection schemes (e.g. loop detectors). 相似文献
5.
Research on connected vehicle environment has been growing rapidly to investigate the effects of real-time exchange of kinetic information between vehicles and road condition information from the infrastructure through radio communication technologies. A fully connected vehicle environment can substantially reduce the latency in response caused by human perception-reaction time with the prospect of improving both safety and comfort. This study presents a dynamical model of route choice under a connected vehicle environment. We analyze the stability of headways by perturbing various factors in the microscopic traffic flow model and traffic flow dynamics in the car-following model and dynamical model of route choice. The advantage of this approach is that it complements the macroscopic traffic assignment model of route choice with microscopic elements that represent the important features of connected vehicles. The gaps between cars can be decreased and stabilized even in the presence of perturbations caused by incidents. The reduction in gaps will be helpful to optimize the traffic flow dynamics more easily with safe and stable conditions. The results show that the dynamics under the connected vehicle environment have equilibria. The approach presented in this study will be helpful to identify the important properties of a connected vehicle environment and to evaluate its benefits. 相似文献
6.
The benefit of eco-driving of electric vehicles (EVs) has been studied with the promising connected vehicle (i.e. V2X) technology in recent years. Whereas, it is still in doubt that how traffic signal control affects EV energy consumption. Therefore, it is necessary to explore the interactions between the traffic signal control and EV energy consumption. This research aims at studying the energy efficiency and traffic mobility of the EV system under V2X environment. An optimization model is proposed to meet both operation and energy efficiency for an EV transportation system with both connected EVs (CEVs) and non-CEVs. For CEVs, a stage-wise approximation model is implemented to provide an optimal speed control strategy. Non-CEVs obey a car-following rule suggested by the well-known Intelligent Driver Model (IDM) to achieve eco-driving. The eco-driving EV system is then integrated with signal control and a bi-objective and multi-stage optimization problem is formulated. For such a large-scale problem, a hybrid intelligent algorithm merging genetic algorithm (GA) and particle swarm optimization (PSO) is implemented. At last, a validation case is performed on an arterial with four intersections with different traffic demands. Results show that cycle-based signal control could improve both traffic mobility and energy saving of the EV system with eco-driving compared to a fixed signal timing plan. The total consumed energy decreases as the CEV penetration rate augments in general. 相似文献
7.
Connected vehicles will change the modes of future transportation management and organization, especially at intersections. In this paper, we propose a distributed conflict-free cooperation method for multiple connected vehicles at unsignalized intersections. We firstly project the approaching vehicles from different traffic movements into a virtual lane and introduce a conflict-free geometry topology considering the conflict relationship of involved vehicles, thus constructing a virtual platoon. Then we present the modeling of communication topology to describe two modes of information transmission between vehicles. Finally, a distributed controller is designed to stabilize the virtual platoon for conflict-free cooperation at intersections. Numerical simulations validate the effectiveness of this method. 相似文献
8.
The state of the practice traffic signal control strategies mainly rely on infrastructure based vehicle detector data as the input for the control logic. The infrastructure based detectors are generally point detectors which cannot directly provide measurement of vehicle location and speed. With the advances in wireless communication technology, vehicles are able to communicate with each other and with the infrastructure in the emerging connected vehicle system. Data collected from connected vehicles provides a much more complete picture of the traffic states near an intersection and can be utilized for signal control. This paper presents a real-time adaptive signal phase allocation algorithm using connected vehicle data. The proposed algorithm optimizes the phase sequence and duration by solving a two-level optimization problem. Two objective functions are considered: minimization of total vehicle delay and minimization of queue length. Due to the low penetration rate of the connected vehicles, an algorithm that estimates the states of unequipped vehicle based on connected vehicle data is developed to construct a complete arrival table for the phase allocation algorithm. A real-world intersection is modeled in VISSIM to validate the algorithms. Results with a variety of connected vehicle market penetration rates and demand levels are compared to well-tuned fully actuated control. In general, the proposed control algorithm outperforms actuated control by reducing total delay by as much as 16.33% in a high penetration rate case and similar delay in a low penetration rate case. Different objective functions result in different behaviors of signal timing. The minimization of total vehicle delay usually generates lower total vehicle delay, while minimization of queue length serves all phases in a more balanced way. 相似文献
9.
This paper describes a connected-vehicle-based system architecture which can provide more precise and comprehensive information on bus movements and passenger status. Then a dynamic control method is proposed using connected vehicle data. Traditionally, the bus bunching problem has been formulated into one of two types of optimization problem. The first uses total passenger time cost as the objective function and capacity, safe headway, and other factors as constraints. Due to the large number of scenarios considered, this type of framework is inefficient for real-time implementation. The other type uses headway adherence as the objective and applies a feedback control framework to minimize headway variations. Due to the simplicity in the formulation and solution algorithms, the headway-based models are more suitable for real-time transit operations. However, the headway-based feedback control framework proposed in the literature still assumes homogeneous conditions at all bus stations, and does not consider restricting passenger loads within the capacity constraints. In this paper, a dynamic control framework is proposed to improve not only headway adherence but also maintain the stability of passenger load within bus capacity in both homogenous and heterogeneous situations at bus stations. The study provides the stability conditions for optimal control with heterogeneous bus conditions and derives optimal control strategies to minimize passenger transit cost while maintaining vehicle loading within capacity constraints. The proposed model is validated with a numerical analysis and case study based on field data collected in Chengdu, China. The results show that the proposed model performs well on high-demand bus routes. 相似文献
10.
Current research on traffic control has focused on the optimization of either traffic signals or vehicle trajectories. With the rapid development of connected and automated vehicle (CAV) technologies, vehicles equipped with dedicated short-range communications (DSRC) can communicate not only with other CAVs but also with infrastructure. Joint control of vehicle trajectories and traffic signals becomes feasible and may achieve greater benefits regarding system efficiency and environmental sustainability. Traffic control framework is expected to be extended from one dimension (either spatial or temporal) to two dimensions (spatiotemporal). This paper investigates a joint control framework for isolated intersections. The control framework is modeled as a two-stage optimization problem with signal optimization at the first stage and vehicle trajectory control at the second stage. The signal optimization is modeled as a dynamic programming (DP) problem with the objective to minimize vehicle delay. Optimal control theory is applied to the vehicle trajectory control problem with the objective to minimize fuel consumption and emissions. A simplified objective function is adopted to get analytical solutions to the optimal control problem so that the two-stage model is solved efficiently. Simulation results show that the proposed joint control framework is able to reduce both vehicle delay and emissions under a variety of demand levels compared to fixed-time and adaptive signal control when vehicle trajectories are not optimized. The reduced vehicle delay and CO2 emissions can be as much as 24.0% and 13.8%, respectively for a simple two-phase intersection. Sensitivity analysis suggests that maximum acceleration and deceleration rates have a significant impact on the performance regarding both vehicle delay and emission reduction. Further extension to a full eight-phase intersection shows a similar pattern of delay and emission reduction by the joint control framework. 相似文献
11.
This research presents an integrated optimal controller to maximize the fuel efficiency of a Hybrid Electric Vehicle (HEV) traveling on rolling terrain. The controller optimizes both the vehicle acceleration and the hybrid powertrain operation. It takes advantage of the emerging Connected Vehicle (CV) technology and utilizes present and future information as optimization input, which includes road topography, and dynamic speed limit. The optimal control problem was solved using Pontryagin’s Minimum Principle (PMP). Efforts were made to reduce the computational burden of the optimization process. The evaluation shows that the benefit of the proposed optimal controller is significant compared to regular HEV cruising at the speed limit on rolling terrain. The benefit ranges from 5.0% to 8.9% on mild slopes and from 15.7% to 16.9% on steep slopes. The variation is caused by the change of hilly road density. 相似文献
12.
Recent developments of information and communication technologies (ICT) have enabled vehicles to timely communicate with each other through wireless technologies, which will form future (intelligent) traffic systems (ITS) consisting of so-called connected vehicles. Cooperative driving with the connected vehicles is regarded as a promising driving pattern to significantly improve transportation efficiency and traffic safety. Nevertheless, unreliable vehicular communications also introduce packet loss and transmission delay when vehicular kinetic information or control commands are disseminated among vehicles, which brings more challenges in the system modeling and optimization. Currently, no data has been yet available for the calibration and validation of a model for ITS, and most research has been only conducted for a theoretical point of view. Along this line, this paper focuses on the (theoretical) development of a more general (microscopic) traffic model which enables the cooperative driving behavior via a so-called inter-vehicle communication (IVC). To this end, we design a consensus-based controller for the cooperative driving system (CDS) considering (intelligent) traffic flow that consists of many platoons moving together. More specifically, the IEEE 802.11p, the de facto vehicular networking standard required to support ITS applications, is selected as the IVC protocols of the CDS, in order to investigate how the vehicular communications affect the features of intelligent traffic flow. This study essentially explores the relationship between IVC and cooperative driving, which can be exploited as the reference for the CDS optimization and design. 相似文献
13.
In real traffic networks, travellers’ route choice is affected by traffic control strategies. In this research, we capture the interaction between travellers’ route choice and traffic signal control in a coherent framework. For travellers’ route choice, a VANET (Vehicular Ad hoc NETwork) is considered, where travellers have access to the real-time traffic information through V2V/V2I (Vehicle to Vehicle/Vehicle to Infrastructure) infrastructures and make route choice decisions at each intersection using hyper-path trees. We test our algorithm and control strategy by simulation in OmNet++ (A network communication simulator) and SUMO (Simulation of Urban MObility) under several scenarios. The simulation results show that with the proposed dynamic routing, the overall travel cost significantly decreases. It is also shown that the proposed adaptive signal control reduces the average delay effectively, as well as reduces the fluctuation of the average speed within the whole network. 相似文献
14.
In this paper, we consider connected cruise control design in mixed traffic flow where most vehicles are human-driven. We first propose a sweeping least square method to estimate in real time feedback gains and driver reaction time of human-driven vehicles around the connected automated vehicle. Then we propose an optimal connected cruise controller based on the mean dynamics of human driving behavior. We test the performance of both the estimation algorithm and the connected cruise control algorithm using experimental data. We demonstrate that by combining the proposed estimation algorithm and the optimal controller, the connected automated vehicle has significantly improved performance compared to a human-driven vehicle. 相似文献
15.
This research proposes an optimal controller to improve fuel efficiency for a vehicle equipped with automatic transmission traveling on rolling terrain without the presence of a close preceding vehicle. Vehicle acceleration and transmission gear position are optimized simultaneously to achieve a better fuel efficiency. This research leverages the emerging Connected Vehicle technology and utilizes present and future information—such as real-time dynamic speed limit, vehicle speed, location and road topography—as optimization input. The optimal control is obtained using the Relaxed Pontryagin’s Minimum Principle. The benefit of the proposed optimal controller is significant compared to the regular cruise control and other eco-drive systems. It varies with the hill length, grade, and the number of available gear positions. It ranges from an increased fuel saving of 18–28% for vehicles with four-speed transmission and 25–45% for vehicles with six-speed transmission. The computational time for the optimization is 1.0–2.1 s for the four-speed vehicle and 1.8–3.9 s for the six-speed vehicle, given a 50 s optimization time horizon and 0.1 s time step. The proposed controller can potentially be used in real-time. 相似文献
16.
This paper proposes a novel dynamic speed limit control model accounting for uncertain traffic demand and supply in a stochastic traffic network. First, a link based dynamic network loading model is developed to simulate the traffic flow propagation allowing the change of speed limits. Shockwave propagation is well defined and captured by checking the difference between the queue forming end and the dissipation end. Second, the dynamic speed limit problem is formulated as a Markov Decision Process (MDP) problem and solved by a real time control mechanism. The speed limit controller is modeled as an intelligent agent interacting with the stochastic network environment stochastic network environment to assign time dependent link based speed limits. Based on different metrics, e.g. total network throughput, delay time, vehicular emissions are optimized in the modeling framework, the optimal speed limit scheme is obtained by applying the R-Markov Average Reward Technique (R-MART) based reinforcement learning algorithm. A case study of the Sioux Falls network is constructed to test the performance of the model. Results show that the total travel time and emissions (in terms of CO) are reduced by around 18% and 20% compared with the base case of non-speed limit control. 相似文献
17.
In this paper, we present results regarding the experimental validation of connected automated vehicle design. In order for a connected automated vehicle to integrate well with human-dominated traffic, we propose a class of connected cruise control algorithms with feedback structure originated from human driving behavior. We test the connected cruise controllers using real vehicles under several driving scenarios while utilizing beyond-line-of-sight motion information obtained from neighboring human-driven vehicles via vehicle-to-everything (V2X) communication. We experimentally show that the design is robust against variations in human behavior as well as changes in the topology of the communication network. We demonstrate that both safety and energy efficiency can be significantly improved for the connected automated vehicle as well as for the neighboring human-driven vehicles and that the connected automated vehicle may bring additional societal benefits by mitigating traffic waves. 相似文献
18.
While safety is one of the most critical contributions of Cooperative Adaptive Cruise Control (CACC), it is impractical to assess such impacts in a real world. Even with simulation, many factors including vehicle dynamics, sensor errors, automated vehicle control algorithms and crash severity need to be properly modeled. In this paper, a simulation platform is proposed which explicitly features: (i) vehicle dynamics; (ii) sensor errors and communication delays; (iii) compatibility with CACC controllers; (iv) state-of-the-art predecessor leader following (PLF) based cooperative adaptive cruise control (CACC) controller; and (v) ability to quantify crash severity and CACC stability. The proposed simulation platform evaluated the CACC performance under normal and cybersecurity attack scenarios using speed variation, headway ratio, and injury probability. The first two measures of effectiveness (MOEs) represent the stability of CACC platoon while the injury probability quantifies the severity of a crash. The proposed platform can evaluate the safety performance of CACC controllers of interest under various paroxysmal or extreme events. It is particularly useful when traditional empirical driver models are not applicable. Such situations include, but are not limited to, cyber-attacks, sensor failures, and heterogeneous traffic conditions. The proposed platform is validated against data collected from real field tests and tested under various cyber-attack scenarios. 相似文献
19.
Connected Vehicles (CV) equipped with a Speed Advisory System (SAS) can obtain and utilize upcoming traffic signal information to manage their speed in advance, lower fuel consumption, and improve ride comfort by reducing idling at red lights. In this paper, a SAS for pre-timed traffic signals is proposed and the fuel minimal driving strategy is obtained as an analytical solution to a fuel consumption minimization problem. We show that the minimal fuel driving strategy may go against intuition of some people; in that it alternates between periods of maximum acceleration, engine shut down, and sometimes constant speed, known in optimal control as bang-singular-bang control. After presenting this analytical solution to the fuel minimization problem, we employ a sub-optimal solution such that drivability is not sacrificed and show fuel economy still improves significantly. Moreover this paper evaluates the influence of vehicles with SAS on the entire arterial traffic in micro-simulations. The results show that SAS-equipped vehicles not only improve their own fuel economy, but also benefit other conventional vehicles and the fleet fuel consumption decreases with the increment of percentage of SAS-equipped vehicles. We show that this improvement in fuel economy is achieved with a little compromise in average traffic flow and travel time. 相似文献
20.
Intersections are the bottlenecks of the urban road system because an intersection’s capacity is only a fraction of the maximum flows that the roads connecting to the intersection can carry. This capacity can be increased if vehicles cross the intersections in platoons rather than one by one as they do today. Platoon formation is enabled by connected vehicle technology. This paper assesses the potential mobility benefits of platooning. It argues that saturation flow rates, and hence intersection capacity, can be doubled or tripled by platooning. The argument is supported by the analysis of three queuing models and by the simulation of a road network with 16 intersections and 73 links. The queuing analysis and the simulations reveal that a signalized network with fixed time control will support an increase in demand by a factor of (say) two or three if all saturation flows are increased by the same factor, with no change in the control. Furthermore, despite the increased demand vehicles will experience the same delay and travel time. The same scaling improvement is achieved when the fixed time control is replaced by the max pressure adaptive control. Part of the capacity increase can alternatively be used to reduce queue lengths and the associated queuing delay by decreasing the cycle time. Impediments to the control of connected vehicles to achieve platooning at intersections appear to be small. 相似文献