A Decentralized Time- and Energy-Optimal Control Framework for Connected Automated Vehicles: From Simulation to Field Test
arXiv:1911.01380 · doi:10.4271/2020-01-0579
Abstract
The implementation of connected and automated vehicle (CAV) technologies enables a novel computational framework for real-time control aimed at optimizing energy consumption with associated benefits. In this paper, we implement an optimal control framework, developed previously, in an Audi A3 etron plug-in hybrid electric vehicle, and demonstrate that we can improve the vehicle's efficiency and travel time in a corridor including an on-ramp merging, a speed reduction zone, and a roundabout. Our exposition includes the development, integration, implementation and validation of the proposed framework in (1) simulation, (2) hardware-in-the-loop (HIL) testing, (3) connectivity enabled virtual reality based bench-test, and (4) field test in Mcity. We show that by adopting such inexpensive, yet effective process, we can efficiently integrate and test the controller framework, ensure proper connectivity and data transmission between different modules of the system, and reduce uncertainty. We evaluate the performance and effectiveness of the control framework and observe significant improvement in terms of energy and travel time compared to the baseline scenario.
References in corpus (3)
Cited by in corpus (6)
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- Energy-Efficient Driving in Connected Corridors via Minimum Principle Control: Vehicle-in-the-Loop Experimental Verification in Mixed Fleets
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- Conditions to Provable System-Wide Optimal Coordination of Connected and Automated Vehicles
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- Performance Analysis of Optimally Coordinated Connected and Automated Vehicles in a Mixed Traffic Environment