Real-time distance estimation and filtering of vehicle headways for smoothing of traffic waves

Rahul Bhadani, Matthew Bunting, Benjamin Seibold, Raphael Stern, Shumo Cui, Jonathan Sprinkle, Benedetto Piccoli, Daniel B. Work

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

Abstract

In this paper we describe an experience report and field deployment of real-time filtering algorithms used with a robotic vehicle to smooth emergent traffic waves. When smoothing these waves in simulation, a common approach is to implement controllers that utilize space gap, relative velocity and even acceleration from smooth ground truth information, rather than from realistic data. As a result, many results may be limited in their impact when considering the dynamics of the vehicle under control and the discretized nature of the laser data as well as its periodic arrival. Our approach discusses trade-offs in estimation accuracy to provide both distance and velocity estimates, with ground-truth hardware-in-the-loop tests with a robotic car. The contribution of the work enabled an experiment with 21 vehicles, including the robotic car closing the loop at up to 8.0 m/s with the filtered estimates, stressing the importance of an algorithm that can deliver real-time results with acceptable accuracy for the safety of the drivers in the experiment.

Original languageEnglish (US)
Title of host publicationICCPS 2019 - Proceedings of the 2019 ACM/IEEE International Conference on Cyber-Physical Systems
EditorsGowri Sankar Ramachandran, Jorge Ortiz
PublisherAssociation for Computing Machinery, Inc
Pages280-290
Number of pages11
ISBN (Electronic)9781450362856
DOIs
StatePublished - Apr 16 2019
Event10th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2019, part of the 2019 CPS-IoT Week - Montreal, Canada
Duration: Apr 16 2019Apr 18 2019

Publication series

NameICCPS 2019 - Proceedings of the 2019 ACM/IEEE International Conference on Cyber-Physical Systems

Conference

Conference10th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2019, part of the 2019 CPS-IoT Week
CountryCanada
CityMontreal
Period4/16/194/18/19

Keywords

  • Autonomous vehicles
  • Connected vehicles
  • Cyber-Physical Systems
  • Digital filter
  • Real-time applications
  • Sensors
  • Simulation
  • Traffic

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Hardware and Architecture

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