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Transcript of Micro-Simulation of Automated Vehicles with Minimal Central Control Advanced Transit Association...
![Page 1: Micro-Simulation of Automated Vehicles with Minimal Central Control Advanced Transit Association Annual Technical Meeting January 12, 2008 Washington,](https://reader036.fdocuments.us/reader036/viewer/2022070412/5697bf891a28abf838c8a2af/html5/thumbnails/1.jpg)
Micro-Simulation of Automated Vehicleswith Minimal Central Control
Advanced Transit Association Annual Technical Meeting
January 12, 2008
Washington, DC
Robert Johnson
R. E. Johnson ConsultingRockville, Maryland
www.REJConsult.com
![Page 2: Micro-Simulation of Automated Vehicles with Minimal Central Control Advanced Transit Association Annual Technical Meeting January 12, 2008 Washington,](https://reader036.fdocuments.us/reader036/viewer/2022070412/5697bf891a28abf838c8a2af/html5/thumbnails/2.jpg)
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Different Types ofAutomated Transit Vehicles
• Track based
– Run on special track that provides lateral guidance and power (most People Movers are in this category)
• Automated Road Vehicles
– Steer themselves along a flat surface without mechanical guidance
– Have a self-contained power supply
– Max speed 20 - 25 mph (32 - 40 kph) on exclusive roadway
![Page 3: Micro-Simulation of Automated Vehicles with Minimal Central Control Advanced Transit Association Annual Technical Meeting January 12, 2008 Washington,](https://reader036.fdocuments.us/reader036/viewer/2022070412/5697bf891a28abf838c8a2af/html5/thumbnails/3.jpg)
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Examples ofSmall Automated Road Vehicles
CyberCab: proposed by 2getthere which operated the first public ARV
ULTra: scheduled to begin service in 2009 at Heathrow airport, London
![Page 4: Micro-Simulation of Automated Vehicles with Minimal Central Control Advanced Transit Association Annual Technical Meeting January 12, 2008 Washington,](https://reader036.fdocuments.us/reader036/viewer/2022070412/5697bf891a28abf838c8a2af/html5/thumbnails/4.jpg)
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Presentation: Three Related Topics
• Micro-simulation model for Automated Road Vehicles
• Using the model to demonstrate a simple vehicle-based control strategy
• Simulation of a shuttle application
![Page 5: Micro-Simulation of Automated Vehicles with Minimal Central Control Advanced Transit Association Annual Technical Meeting January 12, 2008 Washington,](https://reader036.fdocuments.us/reader036/viewer/2022070412/5697bf891a28abf838c8a2af/html5/thumbnails/5.jpg)
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Simulation represents guideway as straight segments alternating with circular arcs
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Library of Special Guideway Elements(in Various Stages of Development)
• End-of-line station
• Center platform station
• “T” Intersection
![Page 7: Micro-Simulation of Automated Vehicles with Minimal Central Control Advanced Transit Association Annual Technical Meeting January 12, 2008 Washington,](https://reader036.fdocuments.us/reader036/viewer/2022070412/5697bf891a28abf838c8a2af/html5/thumbnails/7.jpg)
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Vehicle-based Control System:How to Handle Conflicts
• Vehicles know the complete layout of the system, and know exactly where they are
• At each merge or crossing point, one lane always has priority
• If a vehicle is in the low priority lane, it uses its sensors to scan the high priority lane, and yields if a vehicle is detected
![Page 8: Micro-Simulation of Automated Vehicles with Minimal Central Control Advanced Transit Association Annual Technical Meeting January 12, 2008 Washington,](https://reader036.fdocuments.us/reader036/viewer/2022070412/5697bf891a28abf838c8a2af/html5/thumbnails/8.jpg)
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Vehicle in Low Priority Lane Yields
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Vehicle-based Control System (cont.)
• Vehicles use sensors to watch for objects in their path (another vehicle or foreign object)
• If unexpected object detected, vehicle stops and notifies human operator at central control
• Central control computer:
– Assigns destinations to vehicles
– Holds vehicles at stations to smooth system flows
– No safety-related functions
![Page 10: Micro-Simulation of Automated Vehicles with Minimal Central Control Advanced Transit Association Annual Technical Meeting January 12, 2008 Washington,](https://reader036.fdocuments.us/reader036/viewer/2022070412/5697bf891a28abf838c8a2af/html5/thumbnails/10.jpg)
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Example Application - Shuttle
• Two-way guideway with a station at each end
• Six-passenger, shared vehicles
• 5 second minimum headway
• Maximum passengers per hour per direction
– 4320 theoretical (6*3600/5)
– Practical maximum is probably between 1000 and 2000
• Better than conventional people mover shuttle since can give riders very short wait times (say, 60 sec max)
![Page 11: Micro-Simulation of Automated Vehicles with Minimal Central Control Advanced Transit Association Annual Technical Meeting January 12, 2008 Washington,](https://reader036.fdocuments.us/reader036/viewer/2022070412/5697bf891a28abf838c8a2af/html5/thumbnails/11.jpg)
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(Very Short) Shuttle UsingAutomated Road Vehicles
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End-of-Line StationOutbound paths
![Page 13: Micro-Simulation of Automated Vehicles with Minimal Central Control Advanced Transit Association Annual Technical Meeting January 12, 2008 Washington,](https://reader036.fdocuments.us/reader036/viewer/2022070412/5697bf891a28abf838c8a2af/html5/thumbnails/13.jpg)
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End-of-Line StationInbound paths - Vehicles back into berths
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Path-Crossing ConflictVehicle Leaving Berth Yields
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Merge ConflictVehicle From Berth Nearer Exit Yields
![Page 16: Micro-Simulation of Automated Vehicles with Minimal Central Control Advanced Transit Association Annual Technical Meeting January 12, 2008 Washington,](https://reader036.fdocuments.us/reader036/viewer/2022070412/5697bf891a28abf838c8a2af/html5/thumbnails/16.jpg)
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Merge Conflict Leaving Station
Click image at left to play video if .WMV file was downloaded
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![Page 17: Micro-Simulation of Automated Vehicles with Minimal Central Control Advanced Transit Association Annual Technical Meeting January 12, 2008 Washington,](https://reader036.fdocuments.us/reader036/viewer/2022070412/5697bf891a28abf838c8a2af/html5/thumbnails/17.jpg)
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Vehicles Crossing Paths
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![Page 18: Micro-Simulation of Automated Vehicles with Minimal Central Control Advanced Transit Association Annual Technical Meeting January 12, 2008 Washington,](https://reader036.fdocuments.us/reader036/viewer/2022070412/5697bf891a28abf838c8a2af/html5/thumbnails/18.jpg)
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Simulation of Complete Shuttle
Click image at left to play video if .WMV file was downloaded
OR
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![Page 19: Micro-Simulation of Automated Vehicles with Minimal Central Control Advanced Transit Association Annual Technical Meeting January 12, 2008 Washington,](https://reader036.fdocuments.us/reader036/viewer/2022070412/5697bf891a28abf838c8a2af/html5/thumbnails/19.jpg)
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Conclusions and Future Work
• Vehicle-based control seems feasible, at least in simple systems
• Shuttle systems could be implemented at very low cost, after development of electronics for vehicle
• Next step: develop detailed operating rules for vehicles in T intersections and center platform stations