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Quantifying the impact of probe vehicle localisation data errors on signalised junction control

IET INTELLIGENT TRANSPORT SYSTEMS 2012年第2期6卷 197-203页

作者： Waterson, B. Box, S. Univ Southampton Transportat Res Grp Southampton SO17 1BJ Hants England

This study investigates theoretical signal control algorithms based solely on probe vehicle data. Through development of a simulation system that can model urban signalised junction control using localisation probe data from all vehicles in the local area, improvements in junction operational efficiency that result from the improved input data are demonstrated for both isolated and coordinated junctions. Results from the isolated junction scenario show that the richness of the information contained within probe vehicle data means that control algorithms based just on positions and velocities of vehicles can produce 25% reductions in average delay compared to the current standard control algorithm MOVA. Results from the twin junction scenario confirm the importance of using high-level synchronisation to coordinate closely connected junctions, achieving reductions in average delays (compared to independent control approaches) of up to 40% through a process of weighting the probe vehicle data to reflect prior stage decisions of other parts of the junction. Critical to achieving these benefits, however, is the availability of high localisation accuracy probe data, with results indicating that the levels of accuracy necessary are representative of the typical performance of current in-vehicle global positioning system units, except when those vehicles are operating in urban canyon environments.

关键词： signalised junction control Global Positioning System Spatial variables control reliability urban canyon environments vehicle velocity control algorithms standard control algorithm probe vehicle localisation data errors MOVA junction operational efficiency road traffic control simulation system delays synchronisation high-level synchronisation coordinated junctions twin junction scenario velocity control theoretical signal control algorithms road-traffic system control vehicle position control algorithms Velocity, acceleration and rotation control road vehicles control engineering computing position control in-vehicle global positioning system

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Hybrid Fuzzy Logic controller for Optimized Autonomous Parking

Hybrid Fuzzy Logic Controller for Optimized Autonomous Parki...

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American control Conference

作者： Yu Wang Xiaoxi Zhu Department of Electrical Engineering Yale University New Haven CT 06511 Singapore Telecommunications Limited Singapore

ISBN: (纸本)9781479901777

This paper presents an intelligent autonomous parking system with Hybrid Fuzzy controllers (HFCs). The system enables intelligent vehicles to perform slot detection, parallel and vertical parking in a completely unmanned environment. The HFC, constituting of a Base Fuzzy controller (BFC) and a Supervisory Fuzzy controller (SFC), optimizes the control logic to counteract external disturbances in parking process by implementing additional fuzzy rule base. Customized HFCs are designed for critical steps in parking, namely turning control and posture stabilization. As a result, more accurate and efficient parking is achieved even when there are uncertainties in vehicle length and friction. Simulated experiments are carried out in MATLAB to verify the robustness of new HFCs and to demonstrate the performance improvement compared with the previous Fuzzy-Based Onboard System (FBOS).

关键词： automated highways fuzzy control mobile robots motion control optimisation road traffic control road vehicles robust control

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Position control for a Class of Vehicles in SE(3)

Position Control for a Class of Vehicles in SE(3)

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51st IEEE Annual Conference on Decision and control (CDC)

作者： Roza, Ashton Maggiore, Manfredi Univ Toronto Dept Elect & Comp Engn Toronto ON M5S 3G4 Canada

ISBN: (纸本)9781467320665

A hierarchical design framework is presented to control the position of a class of vehicles in SE(3) that are propelled by a thrust vector along a single body axis and incorporate some mechanism to induce torques about all body axes. A position control outer loop provides reference signals for an attitude control inner loop. The main result of this paper is a set of conditions under which a position controller designed for a point-mass system and an attitude controller can be combined to form a position controller that almost globally asymptotically stabilizes the vehicle to a desired position with desired heading. As opposed to the classical backstepping framework, the proposed approach is modular, in that position control and attitude control designs are completely separate. Thus, for instance, with the proposed technique one can employ any attitude controller from the vast literature on attitude stabilization, provided it enjoys a basic almost global stability property.

关键词： asymptotic stability attitude control position control road traffic control road vehicles torque control

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On the Possibility of Priority-Based road traffic control

On the Possibility of Priority-Based Road Traffic Control

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Annual Conference of the SICE

作者： Senda, Yoshiaki Tanev, Ivan Shimohara, Katstmori Doshisha Univ Grad Sch Informat Engn Kyoto 602 Japan Doshisha Univ Dept Informat Syst Design Kyoto Japan

ISBN: (纸本)9784907764302

In this paper, we propose a Priority-Based road traffic control (PBC). PBC is a sort of multi-agent system, assuming autonomous vehicles as agents, in which road traffic should be controlled through interactions between the intelligent car agents. PBC protocol is the common protocol through which the car agents negotiate their priorities when their driving lines mutually interfere, in order to determine the order of crossing a given intersection. We applied Genetic Programming to evolve the dynamic formula of setting the priorities so that the PBC protocol allows for adaptive and efficient road traffic control even without traffic signals. The conducted simulations verify the efficiency of the proposed PBC, and compared the after with some other methods. We generalize that the proposed PBC is quite efficient in that it improves the road traffic in an intersection even without the need of traffic signals.

关键词： road traffic control Multi-Agent Simulation Signal-less Intersection Genetic Programming

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Cooperative Transportation control in Consideration of not only Internal Force but also External Force Applied to "MRWheel"

Cooperative Transportation Control in Consideration of not o...

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IEEE International Conference on Robotics and Biomimetics (ROBIO)

作者： Kashiwazaki, Koshi Kosuge, Kazuhiro Hirata, Yasuhisa Sugahara, Yusuke Kanbayashi, Takashi Suzuki, Koki Murakami, Kazunori Nakamura, Kenichi Tohoku Univ Dept Bioengn & Robot Aoba Ku 6-6-01 Aoba Sendai Miyagi 9808579 Japan Kokushikan Univ Sch Sci & Engn Setagaya Ku Tokyo 1548515 Japan IHI Transport Machinery Co Ltd Chuo Ku Tokyo 1040044 Japan

ISBN: (纸本)9781467321273;9781467321259

This paper proposes a new cooperative transportation control algorithm in consideration of not only the internal force but the external force applied to "Mobile Robot for a Wheel (MRWheel)". First, we describe the merits and demerits of the model-based external force compensation method proposed in our previous study and explain the necessity of this new control algorithm. Secondly, we explain this new control algorithm mathematically. In this new algorithm, each follower receives the motion errors estimated by the other followers with TCP/IP, which enables each follower to estimate its motion error by using the force applied to it. Moreover, this new algorithm also enables " intelligent Cooperative Autonomous Robot Transporters-type II (iCART II)" to transport many types of cars at a variety of places without the preliminary car transportation needed for identifying the model parameters of the external force. Finally, we conduct the transportation experiments of two types of cars for the comparison between this new algorithm and the conventional algorithm with the model-based external force compensation method. These experimental results illustrate the validity of this new control algorithm.

关键词： automobiles compensation force control intelligent robots mobile robots motion control multi-robot systems road traffic control wheels

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Design of a Supervisory Integrated control for Driver Assistance Systems

Design of a Supervisory Integrated Control for Driver Assist...

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51st IEEE Annual Conference on Decision and control (CDC)

作者： Gaspar, Peter Nemeth, Balazs Bokor, Jozsef Hungarian Acad Sci Comp & Automat Res Inst Syst & Control Lab H-1111 Budapest Hungary

ISBN: (纸本)9781467320665

The paper proposes a control design method for a driver assistance system. In the operation of the system a predefined trajectory required by the driver with a steering command is followed. During maneuvers the control system generates differential brake moment and the auxiliary front wheel steering angle and changes the camber angles of the wheels in order to improve the tracking of the road trajectory. The performance specifications are guaranteed by the local controllers, i.e., the brake, the steering, and the suspension systems, while the coordination of these components is provided by the supervisor. The advantage of this architecture is that local controllers are designed independently, which is ensured by the fact that the monitoring signals are taken into consideration in the formalization of their performance specifications. The control system also uses a driver model, with which the reference signal can be generated. In the control design the parameter-dependent LPV method, which meets the performance specifications, is used.

关键词： brakes control system synthesis driver information systems mechanical engineering computing road traffic control road vehicles signal processing steering systems suspensions (mechanical components) trajectory control wheels

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Neuro-Fuzzy Based Adaptive traffic Flow control System

Neuro-Fuzzy Based Adaptive Traffic Flow Control System

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International Conference on Communications, Devices and Intelligent Systems (COOlS)

作者： Iqbal, Md. Asif Zahin, Adiba Islam, Zainu Sadia Kaiser, M. Shamim Mil Inst Sci & Technol Elect Elect & Commun Engn Dhaka Bangladesh Jahangirnagar Univ Inst Informat Technol Dhaka Bangladesh

ISBN: (纸本)9781467346986;9781467346993

In this paper a Neuro-Fuzzy (NF) based traffic control system has been proposed which can take intelligent decision based on present traffic condition. Here we have trained the Adaptive Neuro-Fuzzy Inference System (ANFIS) system by variable traffic data and the output of this system is compared with Fuzzy logic based and Fixed Time based traffic control system. NF based traffic control system has been found more efficient as the average vehicular delay and the number of vehicles waiting in an intersection have been reduced.

关键词： adaptive control fuzzy control neurocontrollers road traffic control

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Computing Optimum Number of CCTV Cameras for Real-Time traffic Signal control System

Computing Optimum Number of CCTV Cameras for Real-Time Traff...

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2nd IEEE International Conference on Parallel, Distributed and Grid Computing (PDGC)

作者： Gupta, Pratishtha Purohit, Gopaj Banasthali Univ Jaipur Rajasthan India Banasthali Vidyapith Vanasthali Rajasthan India

ISBN: (纸本)9781467329255;9781467329224

Real time traffic light control system can be implemented through the use of CCTV cameras. These cameras will be used to input the traffic load on the junction. The main object is to adjust, in real times, signal timings in response to variation in traffic demand and system capacity. Now, the problem arises if it is mandatory to install the CCTV cameras at every node or junction or the system can be adapted to follow the modified approach wherein, the optimum number of nodes will be computed where the CCTVs can be installed and using the collected data and the information from these nodes, information can be generated for the nodes also where CCTVs have not been installed. So the system will be cost-effective and still the benefits of the system can be gained. Weighted graph for the traffic network in an urban city has been developed. As a case study on some part of Jaipur city in GIS environment of ArcView using Avenue scripting has been considered. The study has been carried out to determine the different ways of installing the CCTV cameras: Full installation: The CCTV cameras are to be installed at every junction. The total number of intersection points in the graph model would provide the required output. Partial installation: The points of CCTV cameras will be selected according to different heuristics. Optimum Installation: The optimum number of CCTV cameras to control the whole network are computed. To make the installation cost-effective, an optimum number of CCTVs is calculated for installing CCTV at some junctions. Some of the junctions will work without CCTV, however, using the collected data and information from these junctions, where CCTVs are installed, information can be generated for the junctions, where CCTVs are not provided.

关键词： closed circuit television data handling geographic information systems graph theory road traffic control traffic engineering computing

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traffic Light control Using Infinitesimal Perturbation Analysis

Traffic Light Control Using Infinitesimal Perturbation Analy...

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51st IEEE Annual Conference on Decision and control (CDC)

作者： Geng, Yanfeng Cassandras, Christos G. Boston Univ Div Syst Engn Boston MA 02215 USA Boston Univ Ctr Informat & Syst Engn Boston MA 02215 USA

ISBN: (纸本)9781467320665

We address the traffic light control problem for a single intersection by viewing it as a stochastic hybrid system and developing a Stochastic Flow Model (SFM) for it. Using Infinitesimal Perturbation Analysis (IPA), we derive online gradient estimates of a cost metric with respect to the controllable green and red cycle lengths. The IPA estimators obtained require counting traffic light switchings and estimating car flow rates only when specific events occur. The estimators are used to iteratively adjust light cycle lengths to improve performance and, in conjunction with a standard gradientbased algorithm, to obtain optimal values which adapt to changing traffic conditions. Simulation results are included to illustrate the approach.

关键词： gradient methods perturbation techniques road traffic control stochastic systems

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Simultaneous estimation of road friction and sideslip angle based on switched multiple non-linear observers

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IET control THEORY AND APPLICATIONS 2012年第14期6卷 2235-2247页

作者： Solmaz, S. Baslamisli, S. C. Gediz Univ Dept Mech Engn TR-35665 Izmir Turkey Hacettepe Univ Dept Mech Engn TR-06800 Ankara Turkey

In this study the author develop a practically stable switched non-linear observer bank for simultaneously estimating the vehicle sideslip angle and the road friction coefficient. Each individual non-linear state estimator in the observer bank is based on a non-linear lateral dynamics vehicle model that is parametrised with a distinct road friction coefficient. The inputs to the non-linear observers are typical signals that are available within lateral stability control systems, which include the vehicle speed, steer angle, lateral acceleration and the yaw rate. The authors show that the suggested non-linear state estimator is practically stable under arbitrary switching. Finally, the authors provide numerical simulations to demonstrate the efficacy of our switched non-linear observer design technique.

关键词： roads nonlinear lateral dynamics vehicle model simultaneous estimation numerical simulation stability lateral stability control system Stability in control theory Nonlinear control systems numerical analysis vehicle speed road friction coefficient vehicle sideslip angle nonlinear observer bank road-traffic system control switched multiple nonlinear observers yaw rate nonlinear control systems switched nonlinear observer design arbitrary switching Other numerical methods lateral acceleration road traffic control observers nonlinear state estimator steer angle Simulation, modelling and identification road safety

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