A Research and Educational Robotic Testbed for Real-Time Control of Emerging Mobility Systems: From Theory to Scaled Experiments [Applications of Control]
A Research and Educational Robotic Testbed for Real-Time Control of Emerging Mobility Systems: From Theory to Scaled Experiments [Applications of Control]
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DOI：
10.1109/mcs.2022.3209056
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发表时间：
2021-09
期刊：
影响因子：
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通讯作者：
Behdad Chalaki;Logan E. Beaver;A. Mahbub;Heeseung Bang;Andreas A. Malikopoulos
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作者：
Behdad Chalaki;Logan E. Beaver;A. Mahbub;Heeseung Bang;Andreas A. Malikopoulos
新兴的移动出行系统，例如互联和自动驾驶汽车（cav）、共享出行和电动汽车，标志着一种范式转变，用户有无数机会更好地监控交通网络状况，做出最佳运营决策，以提高安全性，减少污染、能源消耗和出行延误。随着我们转向日益复杂的新兴移动系统，需要新的控制方法来优化不同交通场景下车辆之间相互作用对系统行为的影响。几项研究表明，在特定的交通场景中，自动驾驶汽车在减少能源消耗和缓解交通拥堵方面的好处[4]，[5],[6]。利用自动驾驶汽车有两种主要的方法，即队列调度和交通平滑。一个排被定义为一组紧密相连的车辆，以减少它们的空气动力阻力，特别是在高巡航速度下。排编队的概念是解决交通拥堵的一种流行的系统级方法，在20世纪80年代和90年代[7]，[8]，[9]获得了发展势头。已经有大量的研究在探索各种组队和/或利用排的方法来提高运输效率[10]、[11]、[12]、[13]、[14]、[15]、[16]、[17]、[18]、[19]、[20]、[21]、[22]。
Emerging mobility systems, for example, connected and automated vehicles (CAVs), shared mobility, and electric vehicles, mark a paradigm shift in which myriad opportunities exist for users to better monitor transportation network conditions and make optimal operating decisions to improve safety and reduce pollution, energy consumption, and travel delays [1]. As we move to increasingly complex emerging mobility systems, new control approaches are needed to optimize the impact on the system behavior [2] of the interplay among vehicles in different traffic scenarios [3]. Several studies have shown the benefits of CAVs to reduce energy consumption and alleviate traffic congestion in specific transportation scenarios [4], [5], [6]. There have been two major approaches to utilizing CAVs, namely, platooning and traffic smoothing. A platoon is defined as a group of closely coupled vehicles traveling to reduce their aerodynamic drag, especially at high cruising speeds. The concept of platoon formation is a popular system-level approach to address traffic congestion, which gained momentum in the 1980s and 1990s [7], [8], [9]. There has been a rich body of research exploring various methods of forming and/or utilizing platoons to improve transportation efficiency [10], [11], [12], [13], [14], [15], [16], [17], [18], [19], [20], [21], [22].