1 Challenge the future Meng Wang Department of Transport & Planning Department of BioMechanical...

1Challenge the future

Meng WangDepartment of Transport amp Planning

Department of BioMechanical Engineering

Supervisor(s) Winnie Daamen Serge Hoogendoorn Bart van Arem

Generic Model Predictive Control Framework for

Advanced Driver Assistance Systems (ADAS)

Controller design for autonomous and cooperative driving and impact assessment on traffic flow dynamics


Advanced Driver Assistance Systems

bull Support drivers in performing driving tasks in (partially)

automated vehicles

bull Autonomous systems eg Adaptive Cruise Control (ACC)

bull Rely solely on on-board sensors

bull No cooperation in the decision-making

bull Cooperative systems eg Cooperative ACC (CACC)

bull Exchange information via V2VV2I communication

bull Coordination and consensus in decision-making


Relevant for traffic management

ADAS may have far-reaching impacts on

bullIndividual driver behaviour car-following and lane-changing

consequently travel time safety and comfort

bullCollective traffic flow characteristics capacity stability

bullSustainability fuel consumption and emissions

It is important to design ADAS to improve collective traffic flow dynamics


A flexible design approach

bull Motivation many control approaches determine ACCC-ACC accelerations based on simple linear feedback control law

bull Approaches often miss certain desirable features such asbull Explicit optimisationbull Multiple objectivesbull Anticipation on (future) driving contextbull Integration with current traffic management architecture

(V2I)

bull Goal to develop a generic multi-objective control approach based on MPC (Model Predictive Control) while being fast and robust enough for real-time application


On-board system

On-board sensors

V2VampV2I Comm

State estimation amp prediction

Optimization at vehicle level

Reference control signal

Vehicle maneuver

Local traffic system

Other sensors

Vehicle actuactor

tk

tk+1

Predicting dynamic behaviour ofbullcontrolled vehiclesbullsurrounding vehicle(s) using human behaviour models

Autonomousnon-cooperative optimisation of own costCooperative system joint optimisation of total costs

[0 ) safety efficiecy comfort fuelargmin

pT J J J J u

Acceleration

M Wang W Daamen SP Hoogendoorn B van Arem Rolling horizon control framework for driver assistance systems Part I Mathematical formulation and non-cooperative systems Transportation Research Part C 201440 pp 271-289

M Wang W Daamen SP Hoogendoorn B van Arem Rolling horizon control framework for driver assistance systems Part II Cooperative sensing and cooperative control Transportation Research Part C 201440 pp 290-311


Worked examplesLayout Objectives FeatureACC (1) Maximise safety by

penalising approaching leader at small gaps(2) Maximise efficiency by penalising deviation from desired speedgap (3) Maximise comfort by penalising large accelerations and braking

Anticipation of leader behaviourFull speed range

EcoACC Basic ACC objectives +Minimise fuel consumption and emissions

Anticipation of leader behaviourEco-driving concept

C-ACC in homogeneous platoon

Maximise safety efficiency and comfort for all cooperative vehicles

Anticipation of leader behaviourExchange predicted state and control information

C-ACC in mixed platoon Maximise safety efficiency and comfort for the cooperative vehicle and its follower(s)

Anticipation of leader behaviourPrediction of follower behaviour using imperfect car-following modelNo V2V communication needed

Δx Δv

ACC leader

Δx2 Δv2

Wireless com

C-ACCC-ACC

Δx1 Δv1

Follower 2 -Human-driven

vehicle

Follower 1-Cooperative vehicle

Leader ndash Human-driven

vehicle

s1 Δv1 s2 Δv2

Δx Δv

EcoACC leader


Traffic flow fundamental diagram

bull ACC (Efficient-driving) vs EcoACC (Eco-driving)

bull Single lane simulation homogeneous vehicles

M Wang W Daamen SP Hoogendoorn B van Arem Potential impacts of ecological adaptive cruise control systems on traffic and environment IET Intelligent Transport Systems 2014 8 pp 77-86


ACC string stability regions

Homogeneous traffic flow stability

M Wang M Treiber W Daamen SP Hoogendoorn B van Arem Modelling supported driving as an optimal control cycle Framework and model characteristics Transportation Research Part C 2013 36 pp 547-563

S Stable CU Convective upstream instabilityA Absolute instabilityCD Convective downstream instability

Driving direction

Driving direction

Speed (kmh

)

Speed (kmh

)


Mixed traffic flow features

bull 2-lane motorway of 14 km more than 500 vehicles

bull Complex networked control problem distributed MPC algorithm

bull Temporary bottleneck by lowering speed limits to 50 kmh

bull Mixed human-driven and ACC vehicles

bull Mixed human-driven and C-ACC vehicles

M Wang W Daamen SP Hoogendoorn B van Arem Cooperative car-following control distributed algorithm and impact on moving jam features IEEE transactions on ITS 2015 (under review)


Impacts of ACC on moving jams


Driving direction

Driving direction

Flow (vehh)

Speed (kmh)

Flow (vehh)

Speed (kmh)

Flow (vehh)

Speed (kmh)


Impacts of C-ACC


Driving direction

Driving direction

Flow (vehh)

Speed (kmh)

Flow (vehh)

Speed (kmh)

Flow (vehh)

Speed (kmh)


Connected traffic control and vehicle control

Scenarios of detected jams

of resolved jams

TTS (vehh)

Speed limits area (kmmin)

0 ACC without VSL

- - 5628 -

10 ACC without VSL

- - 4538 -

100 ACC without VSL

- - 4438 -

0 ACC with VSL

10 10 4750 752

10 ACC with VSL

10 10 4392 735

100 ACC with VSL

12 12 4417 599

M Wang et al Connected variable speed limits control and car-following control with vehicle-infrastructure communication to resolve stop-and-go waves Journal of ITS 2015 (under review)

VSL Variable Speed LimitsTTS Total time spent in the network

ACC controller

Vehicle actuator

Vehicle system

On-board sensors

Disturbance

Reference vehicle acceleration

Traffic system with many vehicles

Local traffic measurements

VSL signals via V2I

VSL controller

Road-based sensors (Loop detectors etc)

Road-based actuators (VSL gantries)

Disturbance(demand etc)


Summary

bull A generic control design methodology for a variety of ADAS applications

bull Implementable algorithms for ACC and C-ACC controllers

bull Impacts of ACC and C-ACC systems on flow characteristics are substantial particularly in formation and propagation properties of moving jams

bull Proposed ACC and C-ACC systems mitigate congestion compared to human-driven vehicles

bull Connected variable speed limits control with ACC brings extra benefits


Still challenginghellip

bull Delay and inaccuracy in the loopbull M Wang SP Hoogendoorn W Daamen B van Arem B Shyrokau and R

Happee Delay-compensating strategy to enhance string stability of autonomous vehicle platoons Submitted to 2016 Annual Meeting of Transportation Research Board (TRB)

bull Cooperative merging and lane changing controlbull M Wang SP Hoogendoorn W Daamen B van Arem and R Happee

Game theoretic approach for predictive lane-changing and car-following control Transportation Research Part C 2015 58 pp73-92

bull Human factors driverrsquos role in the futurebull Supervising resume control safety concern

bull Impact assessmentbull Are microscopic traffic simulation models capable for the job

bull Cooperative traffic managementbull Refine or redesign current traffic management systems


Meng Wangmwangtudelftnlwwwmengwangeu

Thank you


Advanced Driver Assistance Systems

bull Support drivers in performing driving tasks in (partially)

automated vehicles

bull Autonomous systems eg Adaptive Cruise Control (ACC)

bull Rely solely on on-board sensors

bull No cooperation in the decision-making

bull Cooperative systems eg Cooperative ACC (CACC)

bull Exchange information via V2VV2I communication

bull Coordination and consensus in decision-making













(V2I)



On-board system

On-board sensors

V2VampV2I Comm




Vehicle maneuver


Other sensors

Vehicle actuactor

tk

tk+1




pT J J J J u

Acceleration














Δx Δv

ACC leader

Δx2 Δv2

Wireless com

C-ACCC-ACC

Δx1 Δv1


vehicle



vehicle

s1 Δv1 s2 Δv2

Δx Δv

EcoACC leader











Driving direction

Driving direction

Speed (kmh

)

Speed (kmh

)












Driving direction

Driving direction

Flow (vehh)

Speed (kmh)

Flow (vehh)

Speed (kmh)

Flow (vehh)

Speed (kmh)


Impacts of C-ACC


Driving direction

Driving direction

Flow (vehh)

Speed (kmh)

Flow (vehh)

Speed (kmh)

Flow (vehh)

Speed (kmh)




of resolved jams

TTS (vehh)


0 ACC without VSL

- - 5628 -

10 ACC without VSL

- - 4538 -

100 ACC without VSL

- - 4438 -

0 ACC with VSL

10 10 4750 752

10 ACC with VSL

10 10 4392 735

100 ACC with VSL

12 12 4417 599



ACC controller

Vehicle actuator

Vehicle system

On-board sensors

Disturbance




VSL signals via V2I

VSL controller





Summary

















Thank you













(V2I)



On-board system

On-board sensors

V2VampV2I Comm




Vehicle maneuver


Other sensors

Vehicle actuactor

tk

tk+1




pT J J J J u

Acceleration














Δx Δv

ACC leader

Δx2 Δv2

Wireless com

C-ACCC-ACC

Δx1 Δv1


vehicle



vehicle

s1 Δv1 s2 Δv2

Δx Δv

EcoACC leader











Driving direction

Driving direction

Speed (kmh

)

Speed (kmh

)












Driving direction

Driving direction

Flow (vehh)

Speed (kmh)

Flow (vehh)

Speed (kmh)

Flow (vehh)

Speed (kmh)


Impacts of C-ACC


Driving direction

Driving direction

Flow (vehh)

Speed (kmh)

Flow (vehh)

Speed (kmh)

Flow (vehh)

Speed (kmh)




of resolved jams

TTS (vehh)


0 ACC without VSL

- - 5628 -

10 ACC without VSL

- - 4538 -

100 ACC without VSL

- - 4438 -

0 ACC with VSL

10 10 4750 752

10 ACC with VSL

10 10 4392 735

100 ACC with VSL

12 12 4417 599



ACC controller

Vehicle actuator

Vehicle system

On-board sensors

Disturbance




VSL signals via V2I

VSL controller





Summary

















Thank you


On-board system

On-board sensors

V2VampV2I Comm




Vehicle maneuver


Other sensors

Vehicle actuactor

tk

tk+1




pT J J J J u

Acceleration














Δx Δv

ACC leader

Δx2 Δv2

Wireless com

C-ACCC-ACC

Δx1 Δv1


vehicle



vehicle

s1 Δv1 s2 Δv2

Δx Δv

EcoACC leader











Driving direction

Driving direction

Speed (kmh

)

Speed (kmh

)












Driving direction

Driving direction

Flow (vehh)

Speed (kmh)

Flow (vehh)

Speed (kmh)

Flow (vehh)

Speed (kmh)


Impacts of C-ACC


Driving direction

Driving direction

Flow (vehh)

Speed (kmh)

Flow (vehh)

Speed (kmh)

Flow (vehh)

Speed (kmh)




of resolved jams

TTS (vehh)


0 ACC without VSL

- - 5628 -

10 ACC without VSL

- - 4538 -

100 ACC without VSL

- - 4438 -

0 ACC with VSL

10 10 4750 752

10 ACC with VSL

10 10 4392 735

100 ACC with VSL

12 12 4417 599



ACC controller

Vehicle actuator

Vehicle system

On-board sensors

Disturbance




VSL signals via V2I

VSL controller





Summary

















Thank you












Δx Δv

ACC leader

Δx2 Δv2

Wireless com

C-ACCC-ACC

Δx1 Δv1


vehicle



vehicle

s1 Δv1 s2 Δv2

Δx Δv

EcoACC leader











Driving direction

Driving direction

Speed (kmh

)

Speed (kmh

)












Driving direction

Driving direction

Flow (vehh)

Speed (kmh)

Flow (vehh)

Speed (kmh)

Flow (vehh)

Speed (kmh)


Impacts of C-ACC


Driving direction

Driving direction

Flow (vehh)

Speed (kmh)

Flow (vehh)

Speed (kmh)

Flow (vehh)

Speed (kmh)




of resolved jams

TTS (vehh)


0 ACC without VSL

- - 5628 -

10 ACC without VSL

- - 4538 -

100 ACC without VSL

- - 4438 -

0 ACC with VSL

10 10 4750 752

10 ACC with VSL

10 10 4392 735

100 ACC with VSL

12 12 4417 599



ACC controller

Vehicle actuator

Vehicle system

On-board sensors

Disturbance




VSL signals via V2I

VSL controller





Summary

















Thank you











Driving direction

Driving direction

Speed (kmh

)

Speed (kmh

)












Driving direction

Driving direction

Flow (vehh)

Speed (kmh)

Flow (vehh)

Speed (kmh)

Flow (vehh)

Speed (kmh)


Impacts of C-ACC


Driving direction

Driving direction

Flow (vehh)

Speed (kmh)

Flow (vehh)

Speed (kmh)

Flow (vehh)

Speed (kmh)




of resolved jams

TTS (vehh)


0 ACC without VSL

- - 5628 -

10 ACC without VSL

- - 4538 -

100 ACC without VSL

- - 4438 -

0 ACC with VSL

10 10 4750 752

10 ACC with VSL

10 10 4392 735

100 ACC with VSL

12 12 4417 599



ACC controller

Vehicle actuator

Vehicle system

On-board sensors

Disturbance




VSL signals via V2I

VSL controller





Summary

















Thank you












Driving direction

Driving direction

Flow (vehh)

Speed (kmh)

Flow (vehh)

Speed (kmh)

Flow (vehh)

Speed (kmh)


Impacts of C-ACC


Driving direction

Driving direction

Flow (vehh)

Speed (kmh)

Flow (vehh)

Speed (kmh)

Flow (vehh)

Speed (kmh)




of resolved jams

TTS (vehh)


0 ACC without VSL

- - 5628 -

10 ACC without VSL

- - 4538 -

100 ACC without VSL

- - 4438 -

0 ACC with VSL

10 10 4750 752

10 ACC with VSL

10 10 4392 735

100 ACC with VSL

12 12 4417 599



ACC controller

Vehicle actuator

Vehicle system

On-board sensors

Disturbance




VSL signals via V2I

VSL controller





Summary

















Thank you


Impacts of C-ACC


Driving direction

Driving direction

Flow (vehh)

Speed (kmh)

Flow (vehh)

Speed (kmh)

Flow (vehh)

Speed (kmh)




of resolved jams

TTS (vehh)


0 ACC without VSL

- - 5628 -

10 ACC without VSL

- - 4538 -

100 ACC without VSL

- - 4438 -

0 ACC with VSL

10 10 4750 752

10 ACC with VSL

10 10 4392 735

100 ACC with VSL

12 12 4417 599



ACC controller

Vehicle actuator

Vehicle system

On-board sensors

Disturbance




VSL signals via V2I

VSL controller





Summary

















Thank you




of resolved jams

TTS (vehh)


0 ACC without VSL

- - 5628 -

10 ACC without VSL

- - 4538 -

100 ACC without VSL

- - 4438 -

0 ACC with VSL

10 10 4750 752

10 ACC with VSL

10 10 4392 735

100 ACC with VSL

12 12 4417 599



ACC controller

Vehicle actuator

Vehicle system

On-board sensors

Disturbance




VSL signals via V2I

VSL controller





Summary

















Thank you


Summary

















Thank you












Thank you

1 Challenge the future Meng Wang Department of Transport & Planning Department of BioMechanical...

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