Dissipation of Emergent Traffic Waves in Stop-and-Go Traffic Using a Supervisory Controller

Rahul Kumar Bhadani, Benedetto Piccoli, Benjamin Seibold, Jonathan Sprinkle, Daniel Work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper presents the use of a quadratic band controller in an autonomous vehicle (AV) to regulate emergent traffic waves resulting from traffic congestion. The controller dampens the emergent traffic waves through modulating its velocity according to the relative distance and velocity of the immediately preceding vehicle in the flow. At the same time, it prevents any collision within the range specified by the design parameters. The approach is based on a configurable quadratic band that allows smooth transitions between (i) no modification to the desired velocity; (ii) braking to match the speed of the preceding vehicle; and (iii) braking to avoid collision with the lead vehicle. By assuming that the lead vehicle's velocity will be oscillatory, the controller's smooth transition between modes permits any vehicle following the AV to have a smoother reference velocity. The configurable quadratic band allows design parameters, such as actuator and computation delays as well as the dynamics of vehicle deceleration, to be taken into account when constructing the controller. Experimental data, software-in-the-loop distributed simulation, and results from physical platform performance in an experiment with 21 human-driven vehicles are presented. Analysis shows that the design parameters used in constructing the quadratic band controller are met, and assumptions regarding the oscillatory nature of emergent traffic waves are valid.

Original languageEnglish (US)
Title of host publication2018 IEEE Conference on Decision and Control, CDC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3628-3633
Number of pages6
ISBN (Electronic)9781538613955
DOIs
StatePublished - Jan 18 2019
Event57th IEEE Conference on Decision and Control, CDC 2018 - Miami, United States
Duration: Dec 17 2018Dec 19 2018

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume2018-December
ISSN (Print)0743-1546

Conference

Conference57th IEEE Conference on Decision and Control, CDC 2018
CountryUnited States
CityMiami
Period12/17/1812/19/18

Fingerprint

Dissipation
Traffic
Controller
Controllers
Parameter Design
Autonomous Vehicles
Collision
Traffic Congestion
Braking
Distributed Simulation
Immediately
Actuator
Lead
Experimental Data
Valid
Traffic congestion
Deceleration
Software
Range of data
Experiment

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

Cite this

Bhadani, R. K., Piccoli, B., Seibold, B., Sprinkle, J., & Work, D. (2019). Dissipation of Emergent Traffic Waves in Stop-and-Go Traffic Using a Supervisory Controller. In 2018 IEEE Conference on Decision and Control, CDC 2018 (pp. 3628-3633). [8619700] (Proceedings of the IEEE Conference on Decision and Control; Vol. 2018-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2018.8619700

Dissipation of Emergent Traffic Waves in Stop-and-Go Traffic Using a Supervisory Controller. / Bhadani, Rahul Kumar; Piccoli, Benedetto; Seibold, Benjamin; Sprinkle, Jonathan; Work, Daniel.

2018 IEEE Conference on Decision and Control, CDC 2018. Institute of Electrical and Electronics Engineers Inc., 2019. p. 3628-3633 8619700 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2018-December).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Bhadani, RK, Piccoli, B, Seibold, B, Sprinkle, J & Work, D 2019, Dissipation of Emergent Traffic Waves in Stop-and-Go Traffic Using a Supervisory Controller. in 2018 IEEE Conference on Decision and Control, CDC 2018., 8619700, Proceedings of the IEEE Conference on Decision and Control, vol. 2018-December, Institute of Electrical and Electronics Engineers Inc., pp. 3628-3633, 57th IEEE Conference on Decision and Control, CDC 2018, Miami, United States, 12/17/18. https://doi.org/10.1109/CDC.2018.8619700
Bhadani RK, Piccoli B, Seibold B, Sprinkle J, Work D. Dissipation of Emergent Traffic Waves in Stop-and-Go Traffic Using a Supervisory Controller. In 2018 IEEE Conference on Decision and Control, CDC 2018. Institute of Electrical and Electronics Engineers Inc. 2019. p. 3628-3633. 8619700. (Proceedings of the IEEE Conference on Decision and Control). https://doi.org/10.1109/CDC.2018.8619700
Bhadani, Rahul Kumar ; Piccoli, Benedetto ; Seibold, Benjamin ; Sprinkle, Jonathan ; Work, Daniel. / Dissipation of Emergent Traffic Waves in Stop-and-Go Traffic Using a Supervisory Controller. 2018 IEEE Conference on Decision and Control, CDC 2018. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 3628-3633 (Proceedings of the IEEE Conference on Decision and Control).
@inproceedings{9a27cc27bb364d9598bf9012cff5d3e0,
title = "Dissipation of Emergent Traffic Waves in Stop-and-Go Traffic Using a Supervisory Controller",
abstract = "This paper presents the use of a quadratic band controller in an autonomous vehicle (AV) to regulate emergent traffic waves resulting from traffic congestion. The controller dampens the emergent traffic waves through modulating its velocity according to the relative distance and velocity of the immediately preceding vehicle in the flow. At the same time, it prevents any collision within the range specified by the design parameters. The approach is based on a configurable quadratic band that allows smooth transitions between (i) no modification to the desired velocity; (ii) braking to match the speed of the preceding vehicle; and (iii) braking to avoid collision with the lead vehicle. By assuming that the lead vehicle's velocity will be oscillatory, the controller's smooth transition between modes permits any vehicle following the AV to have a smoother reference velocity. The configurable quadratic band allows design parameters, such as actuator and computation delays as well as the dynamics of vehicle deceleration, to be taken into account when constructing the controller. Experimental data, software-in-the-loop distributed simulation, and results from physical platform performance in an experiment with 21 human-driven vehicles are presented. Analysis shows that the design parameters used in constructing the quadratic band controller are met, and assumptions regarding the oscillatory nature of emergent traffic waves are valid.",
author = "Bhadani, {Rahul Kumar} and Benedetto Piccoli and Benjamin Seibold and Jonathan Sprinkle and Daniel Work",
year = "2019",
month = "1",
day = "18",
doi = "10.1109/CDC.2018.8619700",
language = "English (US)",
series = "Proceedings of the IEEE Conference on Decision and Control",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "3628--3633",
booktitle = "2018 IEEE Conference on Decision and Control, CDC 2018",

}

TY - GEN

T1 - Dissipation of Emergent Traffic Waves in Stop-and-Go Traffic Using a Supervisory Controller

AU - Bhadani, Rahul Kumar

AU - Piccoli, Benedetto

AU - Seibold, Benjamin

AU - Sprinkle, Jonathan

AU - Work, Daniel

PY - 2019/1/18

Y1 - 2019/1/18

N2 - This paper presents the use of a quadratic band controller in an autonomous vehicle (AV) to regulate emergent traffic waves resulting from traffic congestion. The controller dampens the emergent traffic waves through modulating its velocity according to the relative distance and velocity of the immediately preceding vehicle in the flow. At the same time, it prevents any collision within the range specified by the design parameters. The approach is based on a configurable quadratic band that allows smooth transitions between (i) no modification to the desired velocity; (ii) braking to match the speed of the preceding vehicle; and (iii) braking to avoid collision with the lead vehicle. By assuming that the lead vehicle's velocity will be oscillatory, the controller's smooth transition between modes permits any vehicle following the AV to have a smoother reference velocity. The configurable quadratic band allows design parameters, such as actuator and computation delays as well as the dynamics of vehicle deceleration, to be taken into account when constructing the controller. Experimental data, software-in-the-loop distributed simulation, and results from physical platform performance in an experiment with 21 human-driven vehicles are presented. Analysis shows that the design parameters used in constructing the quadratic band controller are met, and assumptions regarding the oscillatory nature of emergent traffic waves are valid.

AB - This paper presents the use of a quadratic band controller in an autonomous vehicle (AV) to regulate emergent traffic waves resulting from traffic congestion. The controller dampens the emergent traffic waves through modulating its velocity according to the relative distance and velocity of the immediately preceding vehicle in the flow. At the same time, it prevents any collision within the range specified by the design parameters. The approach is based on a configurable quadratic band that allows smooth transitions between (i) no modification to the desired velocity; (ii) braking to match the speed of the preceding vehicle; and (iii) braking to avoid collision with the lead vehicle. By assuming that the lead vehicle's velocity will be oscillatory, the controller's smooth transition between modes permits any vehicle following the AV to have a smoother reference velocity. The configurable quadratic band allows design parameters, such as actuator and computation delays as well as the dynamics of vehicle deceleration, to be taken into account when constructing the controller. Experimental data, software-in-the-loop distributed simulation, and results from physical platform performance in an experiment with 21 human-driven vehicles are presented. Analysis shows that the design parameters used in constructing the quadratic band controller are met, and assumptions regarding the oscillatory nature of emergent traffic waves are valid.

UR - http://www.scopus.com/inward/record.url?scp=85062178474&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85062178474&partnerID=8YFLogxK

U2 - 10.1109/CDC.2018.8619700

DO - 10.1109/CDC.2018.8619700

M3 - Conference contribution

T3 - Proceedings of the IEEE Conference on Decision and Control

SP - 3628

EP - 3633

BT - 2018 IEEE Conference on Decision and Control, CDC 2018

PB - Institute of Electrical and Electronics Engineers Inc.

ER -