TY - JOUR
T1 - Modelling supported driving as an optimal control cycle
T2 - Framework and model characteristics
AU - Wang, Meng
AU - Treiber, Martin
AU - Daamen, Winnie
AU - Hoogendoorn, Serge P.
AU - van Arem, Bart
PY - 2013/11
Y1 - 2013/11
N2 - Driver assistance systems support drivers in operating vehicles in a safe, comfortable and efficient way, and thus may induce changes in traffic flow characteristics. This paper puts forward a receding horizon control framework to model driver assistance and cooperative systems. The accelerations of automated vehicles are controlled to optimise a cost function, assuming other vehicles driving at stationary conditions over a prediction horizon. The flexibility of the framework is demonstrated with controller design of Adaptive Cruise Control (ACC) and Cooperative ACC (C-ACC) systems. The proposed ACC and C-ACC model characteristics are investigated analytically, with focus on equilibrium solutions and stability properties. The proposed ACC model produces plausible human car-following behaviour and is unconditionally locally stable. By careful tuning of parameters, the ACC model generates similar stability characteristics as human driver models. The proposed C-ACC model results in convective downstream and absolute string instability, but not convective upstream string instability observed in human-driven traffic and in the ACC model. The control framework and analytical results provide insights into the influences of ACC and C-ACC systems on traffic flow operations.
AB - Driver assistance systems support drivers in operating vehicles in a safe, comfortable and efficient way, and thus may induce changes in traffic flow characteristics. This paper puts forward a receding horizon control framework to model driver assistance and cooperative systems. The accelerations of automated vehicles are controlled to optimise a cost function, assuming other vehicles driving at stationary conditions over a prediction horizon. The flexibility of the framework is demonstrated with controller design of Adaptive Cruise Control (ACC) and Cooperative ACC (C-ACC) systems. The proposed ACC and C-ACC model characteristics are investigated analytically, with focus on equilibrium solutions and stability properties. The proposed ACC model produces plausible human car-following behaviour and is unconditionally locally stable. By careful tuning of parameters, the ACC model generates similar stability characteristics as human driver models. The proposed C-ACC model results in convective downstream and absolute string instability, but not convective upstream string instability observed in human-driven traffic and in the ACC model. The control framework and analytical results provide insights into the influences of ACC and C-ACC systems on traffic flow operations.
KW - Advanced Driver Assistance Systems
KW - Car-following
KW - Cooperative systems
KW - Optimal control
KW - Stability analysis
UR - http://www.scopus.com/inward/record.url?scp=84887189552&partnerID=8YFLogxK
U2 - 10.1016/j.trc.2013.06.012
DO - 10.1016/j.trc.2013.06.012
M3 - Article
AN - SCOPUS:84887189552
VL - 36
SP - 547
EP - 563
JO - Transportation Research Part C: Emerging Technologies
JF - Transportation Research Part C: Emerging Technologies
SN - 0968-090X
ER -