节能网联和自动驾驶车辆的速度轨迹生成

IF 1 Q4 AUTOMATION & CONTROL SYSTEMS
Lung En Jan, Junfeng Zhao, Shunsuke Aoki, Anand Bhat, Chen-Fang Chang, R. Rajkumar
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引用次数: 5

摘要

联网和自动驾驶汽车(cav)可以实时了解当前的驾驶环境、在不久的将来要采取的行动以及来自云的信息。这些信息被称为预览信息,可以使自动驾驶汽车安全驾驶,但也可以用来最大限度地减少燃料消耗。仅在美国,这种省油的交通工具每年就有可能减少数十亿加仑的总燃料消耗。在本文中,我们提出了一个用于自动驾驶汽车的规划框架,其目标是生成节能的车辆轨迹。通过利用车载传感器数据和车辆对基础设施(V2I)通信,我们利用自动驾驶汽车的计算能力来生成环保的车辆轨迹。规划器使用生态驱动模型和基于预测成本的搜索来确定CAV使用的最佳速度剖面。为了评估规划器的性能,我们引入了一个由CAV模拟器、Matlab/Simulink和CAV软件平台(称为inrich生态自动驾驶(iREAD)系统)组成的联合仿真环境。该规划器基于国家可再生能源实验室(NREL)提供的现实世界道路网络模型,在各种城市交通场景中进行评估。模拟表明,使用我们的方法,平均节省14.5%的燃料消耗,相应增加2%的旅行时间。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Speed Trajectory Generation for Energy-Efficient Connected and Automated Vehicles
Connected and automated vehicles (CAVs) have real-time knowledge of the immediate driving environment, actions to be taken in the near future and information from the cloud. This knowledge, referred to as preview information, enables CAVs to drive safely, but can also be used to minimize fuel consumption. Such fuel-efficient transportation has the potential to reduce aggregate fuel consumption by billions of gallons of gas every year in the U.S. alone. In this paper, we propose a planning framework for use in CAVs with the goal of generating fuel-efficient vehicle trajectories. By utilizing on-board sensor data and vehicle-to-infrastructure (V2I) communications, we leverage the computational power of CAVs to generate eco-friendly vehicle trajectories. The planner uses an eco-driver model and a predictive cost-based search to determine the optimal speed profile for use by a CAV. To evaluate the performance of the planner, we introduce a co-simulation environment consisting of a CAV simulator, Matlab/Simulink and a CAV software platform called the InfoRich Eco-Autonomous Driving (iREAD) system. The planner is evaluated in various urban traffic scenarios based on real-world road network models provided by the National Renewable Energy Laboratory (NREL). Simulations show an average savings of 14.5% in fuel consumption with a corresponding increase of 2% in travel time using our method.
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来源期刊
Mechatronic Systems and Control
Mechatronic Systems and Control AUTOMATION & CONTROL SYSTEMS-
CiteScore
1.40
自引率
66.70%
发文量
27
期刊介绍: This international journal publishes both theoretical and application-oriented papers on various aspects of mechatronic systems, modelling, design, conventional and intelligent control, and intelligent systems. Application areas of mechatronics may include robotics, transportation, energy systems, manufacturing, sensors, actuators, and automation. Techniques of artificial intelligence may include soft computing (fuzzy logic, neural networks, genetic algorithms/evolutionary computing, probabilistic methods, etc.). Techniques may cover frequency and time domains, linear and nonlinear systems, and deterministic and stochastic processes. Hybrid techniques of mechatronics that combine conventional and intelligent methods are also included. First published in 1972, this journal originated with an emphasis on conventional control systems and computer-based applications. Subsequently, with rapid advances in the field and in view of the widespread interest and application of soft computing in control systems, this latter aspect was integrated into the journal. Now the area of mechatronics is included as the main focus. A unique feature of the journal is its pioneering role in bridging the gap between conventional systems and intelligent systems, with an equal emphasis on theory and practical applications, including system modelling, design and instrumentation. It appears four times per year.
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