Automated OnRamp Merging for Congested Traffic Situations Emmanuel Sean Peters Objectives amp Results Develop an automated merging system that I Permits merging traffic to fluidly enter the major road to avoid congestion on the minor road ID: 191440
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Slide1
Paper Review:Automated On-Ramp Merging for Congested Traffic Situations
Emmanuel Sean PetersSlide2
Objectives & Results
Develop an automated merging system that:
I. Permits merging traffic to fluidly enter the major road to avoid congestion on the minor road
II. Modifies the speed of vehicles on main road to minimize the effect on the already congested main road
A fuzzy controller and decision algorithm that uses Vehicle-to-Infrastructure communication is designed and tested using three production vehicles Slide3
Objectives & Results
Solved one of the major causes of congestion in urban environments: merging from minor to major roads.
validated using simulations and real experiments involving mass produced vehicles
system successfully & safely merged a car from ramp onto the main road at low speedsSlide4
Outline
Introduction
Control Architecture
Description of Vehicles & LCS
Automated Ramp Entrance System
Experiments
ConclusionSlide5
Outline: IntroductionIncrease in number of drivers and vehicles and cars on road over past few decades
Urban environments are most congested
Advanced Driver-Assisted Systems (ADAS)
Ultimate decision is the driver’s; driver may be incorrect
Simulations are encouraging but…
Gasoline-propelled vehicle dynamics at very low speeds are highly non-linear and difficult to modelSlide6
Outline: ArchitectureAUTOPIA Program:
The development of automatic cars using mass produced vehicles and tests on real roadsSlide7
Outline: Vehicles & LCS
Automated Vehicles
2
Citro
ё
n C3s
(Gasoline-Propelled)
1
Berlingo
Citro
ё
n
(Electric)
Local Control Station (LCS) Detecting risky traffic situations & advising the vehicles involvedSlide8
Outline: Automated Ramp Entrance System (I)
Design of system divided into 3 phases
Detection
Optimal Merging Algorithm
Intelligent Controller Design – uses reference data from optimal merging algorithmSlide9
Outline: Automated Ramp Entrance System (II)
Decision System
- Ensures sufficient headway is achieved by the time the merging point is reached
Control System
-
F
uzzy logic
- Relies on
SpeedError
&
Distance Error
values Slide10
Outline: ExperimentsSlide11
Details: Decision System (I)Slide12
Details: Decision System (II)Slide13
Details: Control System
Fuzzy Logic
Solutions based on vague information
Mamdani
Inference:
max-min method
Membership
functions – maps input a value between 0 and 1
Inputs:
SpeedError
DistanceError
Output:
Pedal [-1,1]
Weights:
Throttle – 40%Break – 10%Slide14
Details: Control SystemSlide15
Details: Control System
DistanceError
Difference between leading
& trailing vehicles’ speeds
SpeedError
Difference between leading
& trailing vehicles’ speeds -
[-3,3]
kmh
Three membership functions & three linguistic labels
- Positive linguistic used to accelerate/brake for
SpeedError
/
DistanceError
- Negative linguistic used to brake/accelerate for
SpeedError
/
DistanceError
- Center linguistic used to indicate that trailing car maintaining target speed or distanceSlide16
Details: Control System
Output variable,
Pedal
[-1, 1],
as a function of fuzzy input variables
SpeedError
and Distance Error; determines which actuator is pressed
. Slide17
Details: Control System
Output variable
as
Sugeno
singletonsSlide18
Details: Simulation Results
L=10m, initial speed=3m/s
Scenario 1: x
20
=-18 and x
30
=-8,
Scenario 2: x
20
=-26 and x
30
=-16 Slide19
Details: Simulation Results
Scenario 1
Scenario 2Slide20
Details: Simulation Results
Scenario 1
Scenario 2Slide21
Details: ExperimentsSlide22Slide23
http://www.iai.csic.es/autopia/Videos/Merging.wmvSlide24
Questions?