A control theoretic formulation of green driving strategies based on inter-vehicle

Transcription

1 A control theoretic formulation of green driving strategies based on inter-vehicle communications HaoYang and WenlongJin University of California, Irvine July, 2014 USTC 1

2 Outline Research overview Introduction Control system description Simple green driving strategies Distributed cooperative green driving strategy Smartphone implementation and field test Conclusion July, 2014 USTC 2

3 Overview Introduction System Simple GD Advanced GD Field test Conclusion Appendix Research overview July, 2014 USTC 3

4 Overview Introduction System Simple GD Advanced GD Field test Conclusion Appendix A control system view Desired performance Control, Management, Planning, Design,... Transportation systems Safety Time Costs Emissions Land use Detection, Estimation, Communication July, 2014 USTC 4

5 Overview Introduction System Simple GD Advanced GD Field test Conclusion Appendix Bottleneck modeling July, 2014 USTC 5

6 Overview Introduction System Simple GD Advanced GD Field test Conclusion Appendix Network traffic dynamics July, 2014 USTC 6

7 Overview Introduction System Simple GD Advanced GD Field test Conclusion Appendix Stability of network traffic flow July, 2014 USTC 7

8 Overview Introduction System Simple GD Advanced GD Field test Conclusion Appendix Inter-vehicle communication system July, 2014 USTC 8

9 Overview Introduction System Simple GD Advanced GD Field test Conclusion Appendix Smartphone-based v2b communication July, 2014 USTC 9

10 Overview Introduction System Simple GD Advanced GD Field test Conclusion Appendix Crowdsourcedpothole detection Pothole July, 2014 USTC 10

11 Collaborative green driving July, 2014 USTC 11

12 Overview Introduction System Simple GD Advanced GD Field test Conclusion Appendix Introduction: Green driving July, 2014 USTC 12

13 Overview Introduction System Simple GD Advanced GD Field test Conclusion Appendix Environmental impacts of driving Green house gas emissions in 2004 (IPCC) 1/3 by transportation sector 80% by passenger cars and freight trucks Driving behaviors speed acceleration route departure time July, 2014 USTC 13

14 Overview Introduction System Simple GD Advanced GD Field test Conclusion Appendix Stop-and-go traffic July, 2014 USTC 14

15 Overview Introduction System Simple GD Advanced GD Field test Conclusion Appendix Green driving strategies Segment speed control speed bumps (Pau and Angius, 2001) police enforcement (Vaa,1997) changeable message signs (Oh and Oh, 2005) variable speed limits (Papageorgiou et al., 2008) Intelligent speed adaptation (Carstenand Tate, 2005) manually driven aggregate information Heuristic Personal experience July, 2014 USTC 15

16 Overview Introduction System Simple GD Advanced GD Field test Conclusion Appendix Inter-vehicle communication Dedicated short range communications (DSRC) communication connectivity, throughput hardware, software simulation Transportation applications safety mobility environmental July, 2014 USTC 16

17 Overview Introduction System Simple GD Advanced GD Field test Conclusion Appendix Control system description July, 2014 USTC 17

18 Overview Introduction System Simple GD Advanced GD Field test Conclusion Appendix Newell s car-following model July, 2014 USTC 18

19 Overview Introduction System Simple GD Advanced GD Field test Conclusion Appendix Speed profile Performance measures average speed standard deviation Emissions and fuel consumption Comprehensive Modal Emissions Model (CMEM) (Barth et al., 2001) Vehicle type 8: normal emitter levels and low power/weight ratios and mileages greater than 50,000 miles July, 2014 USTC 19

20 Overview Introduction System Simple GD Advanced GD Field test Conclusion Appendix Feedback control system July, 2014 USTC 20

21 Block diagram for one vehicle IVC ASL Location, speed, acceleration, emissions Radar GPS July, 2014 USTC 21

22 Simple GD strategies July, 2014 USTC 22

23 Constant, independent strategy =0 >0 <0 July, 2014 USTC 23

24 Three cooperative strategies July, 2014 USTC 24

25 Distributed cooperative GD strategy July, 2014 USTC 25

26 Four design rules Maintain car-following Same average speed/travel time Smoother speed profiles Reduced emissions and fuel consumption Effective independently Cooperation More connected vehicles, better effects Limited communication July, 2014 USTC 26

27 Feedback control system July, 2014 USTC 27

28 Four steps July, 2014 USTC 28

29 Independent strategy: congested traffic July, 2014 USTC 29

30 Impacts of market penetration rate July, 2014 USTC 30

31 Impacts of communication delay July, 2014 USTC 31

32 Field test July, 2014 USTC 32

33 Smartphone based implementation Why smartphone? Integrated GPS and other sensors 3G/4G network High market penetration rate Characteristics GPS accuracy Communication delay July, 2014 USTC 33

34 V2V communication July, 2014 USTC 34

35 Results July, 2014 USTC 35

36 Emissions and fuel consumption July, 2014 USTC 36

37 Conclusion July, 2014 USTC 37

38 Summary July, 2014 USTC 38

39 Future directions Other traffic systems multi-lane roads: lane-changing, merging, diverging arterial roads Other control algorithms Model predictive control Information management, sharing, retrieving relevance check Interplay with DSRC communication connectivity, throughput July, 2014 USTC 39

40 Questions? July, 2014 USTC 40

41 Appendix July, 2014 USTC 41

42 Simple stop-and-go traffic model July, 2014 USTC 42

43 Average speed vs standard deviation July, 2014 USTC 43

44 July, 2014 USTC 44

45 Constant independent, open-loop no feedback, not robust Simple cooperation closed-loop Control perspective either no spatial average or no car-following Distributed cooperative closed-loop temporal average target: periodic car-following spatial average through IVC July, 2014 USTC 45