Computationally-Efficient Fuel-Economic High-Level Controller Design for a Group of Connected Vehicles in Urban Roads

2018 ◽  
Author(s):  
Alejandro Fernandez Canosa ◽  
Baisravan HomChaudhuri
Keyword(s):  
Fuel Economy ◽  
Controller Design ◽  
Red Light ◽  
Target Velocity ◽  
Connected Vehicles ◽  
Level Control ◽  
Computationally Efficient ◽  
Vehicle To Vehicle ◽  
Vehicle To Infrastructure ◽  
High Level

This paper presents a computationally-efficient fuel-economic control strategy for a group of connected vehicles in urban roads. We assume the availability of vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communication. Apart from fuel economy, the proposed higher-level controller also focuses on reducing red light idling, which improves traffic mobility and in turn improves vehicle emissions. The red light idling avoidance problem is formulated as a two-point boundary value problem and sampling-based approach is employed to evaluate a feasible solution in real-time. This leads to control solutions that can ensure avoidance of red light idling despite the number of vehicles in front of it. We have shown that sampling from a Gaussian distribution whose mean depends on the target velocity can improve fuel economy to a good extent. This higher-level control solution provides a good initial solution for any deterministic lower-level controller. Simulation results show the efficacy of the proposed method in terms of fuel economy and computational efficiency.

scholarly journals Collaborative Autonomous Driving—A Survey of Solution Approaches and Future Challenges

Sensors ◽  
2021 ◽  
Vol 21 (11) ◽  
pp. 3783
Author(s):  
Sumbal Malik ◽  
Manzoor Ahmed Khan ◽  
Hesham El-Sayed
Keyword(s):  
Autonomous Vehicles ◽  
Communication Technologies ◽  
Autonomous Driving ◽  
Use Cases ◽  
Cooperative Driving ◽  
Vehicle To Vehicle ◽  
Future Challenges ◽  
Vehicle To Infrastructure ◽  
High Level ◽  
Intersection Management

Sooner than expected, roads will be populated with a plethora of connected and autonomous vehicles serving diverse mobility needs. Rather than being stand-alone, vehicles will be required to cooperate and coordinate with each other, referred to as cooperative driving executing the mobility tasks properly. Cooperative driving leverages Vehicle to Vehicle (V2V) and Vehicle to Infrastructure (V2I) communication technologies aiming to carry out cooperative functionalities: (i) cooperative sensing and (ii) cooperative maneuvering. To better equip the readers with background knowledge on the topic, we firstly provide the detailed taxonomy section describing the underlying concepts and various aspects of cooperation in cooperative driving. In this survey, we review the current solution approaches in cooperation for autonomous vehicles, based on various cooperative driving applications, i.e., smart car parking, lane change and merge, intersection management, and platooning. The role and functionality of such cooperation become more crucial in platooning use-cases, which is why we also focus on providing more details of platooning use-cases and focus on one of the challenges, electing a leader in high-level platooning. Following, we highlight a crucial range of research gaps and open challenges that need to be addressed before cooperative autonomous vehicles hit the roads. We believe that this survey will assist the researchers in better understanding vehicular cooperation, its various scenarios, solution approaches, and challenges.

On-Board System Identification of Systems With Unknown Input Nonlinearity and System Parameters

2005 ◽  
Author(s):  
Song Liu ◽  
Bin Yao
Keyword(s):  
System Identification ◽  
Controller Design ◽  
Point Of View ◽  
Nonlinear Flow ◽  
Unknown Input ◽  
Level Control ◽  
Input Nonlinearity ◽  
System Parameters ◽  
High Level ◽  
Board System

Input nonlinearities, or actuator nonlinearities, can be seen in a lot of systems and have significant effects on the system performance. From the controller design point of view, accurate yet simple model of input nonlinearities is essential to compensate their effects and to achieve high level control performance. Unfortunately, most input nonlinearities are neither known nor easy to characterize, especially when the input nonlinearities and unknown system parameters are present simultaneously in the system dynamics. Off-board calibration may be possible yet it is very time consuming and requires additional calibration systems. This paper focuses on a class of systems with unknown input nonlinearities and system parameters and proposes an on-board system identification process to model the unknown nonlinearities. The input nonlinearities are decomposed into localized orthogonal basis and then estimated together with the system parameters. The proposed method is applied to model the nonlinear flow mapping of cartridge valves. Simulation and experimental results are obtained to illustrate the effectiveness and practicality of the proposed method.

Impacts of vehicle-to-infrastructure communication on traffic flows with mixed connected vehicles and human-driven vehicles

2021 ◽  
pp. 2150091
Author(s):  
Mengxiao Du ◽  
Shiyao Yang ◽  
Qun Chen
Keyword(s):  
Red Light ◽  
Connected Vehicles ◽  
Mixed Flow ◽  
Mixed Traffic Flow ◽  
Traffic Characteristics ◽  
Signal Light ◽  
Vehicle To Infrastructure ◽  
Motion Characteristics ◽  
Vehicle To Infrastructure Communication ◽  
Motion Behavior

This paper explored the impacts of vehicle-to-infrastructure (V2I) communication on the mixed traffic flow consisting of connected vehicles (CVs) and human-driven vehicles (HVs). We developed a cellular automaton model for mixed flow at the signalized intersection. In addition to considering the motion characteristics of CVs and the influence of HVs on the motion behavior of CVs, the model also considered the influence of signal lights. CVs determine their velocities via V2I communication in order to pass the signal light with less delay and avoid stopping. Through simulations, we found that the presence, frequency and range of V2I communication all make a difference in the mixed flow. Also, 1-Hz communication reduces the number of vehicles within 300 m before the red light from 36 to 26, and the 10-Hz communication reduces one more; 1-Hz communication increases the number of accelerations, but when the frequency increases to 10 Hz, the number of accelerations decreases to the same value as without V2I communication, but the value of number of accelerations increases monotonously with the frequency; traffic delay decreases and capacity increases as the frequency increases. However, as the communication range increases, except that the number of accelerations first decreases and then increases, other traffic characteristics remain unchanged. The number of accelerations reaches a minimum at about 500 m.

scholarly journals Sustainable Adoption of Connected Vehicles in the Brazilian Landscape: Policies, Technical Specifications and Challenges

2019 ◽  
Vol 3 (1) ◽  
pp. 44 ◽  
Author(s):  
Douglas Aguiar Do Nascimento ◽  
Yuzo Iano ◽  
Hermes José Loschi ◽  
Navid Razmjooy ◽  
Robert Sroufe ◽  
...  
Keyword(s):  
Intelligent Transportation System ◽  
System Development ◽  
Current Status ◽  
Connected Vehicles ◽  
Embedded Devices ◽  
Vehicle Communication ◽  
Automotive Market ◽  
Vehicle To Vehicle ◽  
Vehicle To Infrastructure ◽  
Technical Specifications

This review addresses the intervehicular communication in Connected Vehicles (CV) by emphasizing V2V (vehicle-to-vehicle) and V2I (vehicle-to-infrastructure) communications in terms of evolution, current standards, state-of-the-art studies, embedded devices, simulation, trends, challenges, and relevant legislation. This review is based on studies conducted from 2009 to 2019, government reports about the sustainable deployment of these technologies and their adoption in the Brazilian automotive market. Moreover, WAVE (Wireless Access in Vehicular Environment) and DSRC (Dedicated Short-range Communication) standards, the performance analysis of communication parameters and intervehicular available at the market are also described. The current status of ITS (Intelligent Transportation System) development in Brazil was reviewed, as well as the research institutes and governmental actions focused on introducing the concept of connected vehicles into the society. The Brazilian outlook for technological adoption concerning CVs was also discussed. Moreover, challenges related to technical aspects, safety and environmental issues, and the standardization for vehicle communication are also described. Finally, this review highlights the challenges and proposals from available technologies devoted to the roads and vehicular infrastructure communication, their evolution and upcoming trends.

In the Quest for a Stable Triplet State in Small Polyaromatic Hydrocarbons : An In-Silico Tool for Rational Design and Prediction

2019 ◽  
Author(s):  
Madhumita Rano ◽  
Sumanta K Ghosh ◽  
Debashree Ghosh
Keyword(s):  
Triplet State ◽  
Small Molecules ◽  
In Silico ◽  
Qualitative Agreement ◽  
Rational Design ◽  
Polyaromatic Hydrocarbons ◽  
Spin Hamiltonian ◽  
Spin Frustration ◽  
Computationally Efficient ◽  
High Level

<div>Combining the roles of spin frustration and geometry of odd and even numbered rings in polyaromatic hydrocarbons (PAHs), we design small molecules that show exceedingly small singlet-triplet gaps and stable triplet ground states. Furthermore, a computationally efficient protocol with a model spin Hamiltonian is shown to be capable of qualitative agreement with respect to high level multireference calculations and therefore, can be used for fast molecular discovery and screening.</div>

scholarly journals Traffic Flow Management of Autonomous Vehicles Using Platooning and Collision Avoidance Strategies

Electronics ◽  
2021 ◽  
Vol 10 (10) ◽  
pp. 1221
Author(s):  
Anum Mushtaq ◽  
Irfan ul Haq ◽  
Wajih un Nabi ◽  
Asifullah Khan ◽  
Omair Shafiq
Keyword(s):  
Traffic Flow ◽  
Collision Avoidance ◽  
Autonomous Vehicles ◽  
Flow Management ◽  
V2v Communication ◽  
Cooperative Strategies ◽  
Vehicle To Vehicle ◽  
Traffic Flow Management ◽  
Vehicle To Infrastructure ◽  
Formation And Evolution

Connected Autonomous Vehicles (AVs) promise innovative solutions for traffic flow management, especially for congestion mitigation. Vehicle-to-Vehicle (V2V) communication depends on wireless technology where vehicles can communicate with each other about obstacles and make cooperative strategies to avoid these obstacles. Vehicle-to-Infrastructure (V2I) also helps vehicles to make use of infrastructural components to navigate through different paths. This paper proposes an approach based on swarm intelligence for the formation and evolution of platoons to maintain traffic flow during congestion and collision avoidance practices using V2V and V2I communications. In this paper, we present a two level approach to improve traffic flow of AVs. At the first level, we reduce the congestion by forming platoons and study how platooning helps vehicles deal with congestion or obstacles in uncertain situations. We performed experiments based on different challenging scenarios during the platoon’s formation and evolution. At the second level, we incorporate a collision avoidance mechanism using V2V and V2I infrastructures. We used SUMO, Omnet++ with veins for simulations. The results show significant improvement in performance in maintaining traffic flow.

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