Ability to damp traffjc wave when controlled every cars on the road - - PowerPoint PPT Presentation

Takla Nateeboon†, Harit Tawabutr†, Teerasit Termsaithong‡,☉,✝, and Ekapong Hirunsirisawat‡,☉,☾

† DSS, KMUTT ‡ TCP,KMUTT ☉ TaCS,KMUTT ✝ LI,KMUTT ☾ ESC,KMUTT

Ability to damp traffjc wave when controlled every cars on the road by FollowerStopper controller.

Self Driving Self Driving Self Driving

Traffjc Flow Simulation 1

Self Driving Self Driving

Human-driven cars. 1 Self-driving car Traffjc wave >20

x 260 m

Traffjc Flow Simulation 2

Traffjc jam can be dissappear by using self-driving cars.

Introduction Traffjc jam and traffjc wave Self-driving car damp traffjc wave.

Self-driving car controlled by FollowerStopper Traffjc wave dissipated.

Human-driven cars. 1 Self-driving car Traffjc wave >20

x

Human-driven cars. 1 Self-driving car Traffjc wave 24

x 366 m 260 m

Traffjc Flow Simulation 3 Controller whici control self- driving car

FollowerStopper

Human-driven cars. 1 Self-driving car Traffjc wave >20

x

Human-driven cars. 1 Self-driving car Traffjc wave 24

Human-driven cars. 24 Self-driving car Traffjc wave

x

Still exist

366 m 366 m 260 m

Traffjc Flow Simulation 4 Controller whici control self- driving car

FollowerStopper

Human-driven cars. 24 Self-driving car Traffjc wave Still exist

336 m

Human-driven cars. 24 Self-driving car Traffjc wave

x 260 m

Decrease the size of circuit road 336 m →U1 260 m →U2

U maximum speed of

self-driving car

Traffjc Flow Simulation 5 Controller whici control self- driving car

FollowerStopper

Purpose

“

Tie relation between

ability to damp traffjc wave

and

initial density of the car on circuit road

when U=some const.

”

U maximum speed of self-driving car

Traffjc Flow Simulation 6

Numerical Experiment

24

self-driving car

Traffjc Flow Simulation 7

Created traffjc wave. Turn self-driving mode on. Determined if the traffjc wave still existed. Change size of the road.

Intelligent Driver Model (IDM)

dv dt a v v s s

• 1

2

• *

+

(Martin Treiber, 2013)

Desired velocity (v0 ) Safe gap distant (s*). Its velocity (v) Its gap distant (s) Reaction time (T) Maximum acceleration (a) Maximum deceleration (b) Apporaciing rate (Δv)

s*(v,∆v)=s₀+max(0,vT+ ) vΔv 2 ab

ξ = N(0,2)

ξ noise term which use for to create velocity fluctuation.

Traffjc Flow Simulation 8

Created traffjc wave.

Just let human drive, traffjc jam will be emerge. Model for human-driven car.

FollowerStopper

• x

x d v

k k k

• 2

1 2 ( _)

v v

cmd

• 1

if x x x

• x

x x if x x x x

1 2 1 1 2

• v

U v ( ) x x x if x x x

2 3 1 2 3

• U

if x x

• 3
• (Raphael E. Stern, et al., 2017)

10 20 30 40 50 60

• 10
• 5

5 10 Δv (m/s)

Regions for FollowerStopper controller

Tie controller comand self-driving cars to drive at vcmd

Region boundary is defjned by

⓵ ⓶ ⓷ ⓸ vcmd=U

vcmd=0 Δv_ = min(Δv,0)

Traffjc Flow Simulation 9

Let self-driving car damp the traffjc wave.

Traffjc wave More variant and lower velocity. SD of v , v average

time=0 s

Humans drive the cars. Self-driving mode turned on

600 second 1400 second Traffjc Flow Simulation 10

Determined if the traffjc wave still existed.

Traffjc Flow Simulation 11

Simulation result

Flow

jam

v average (at 600 )

Traffjc Flow Simulation 12

Simulation result U=7.00 m/s v=7.00 v<U v=0.00

v average (at 600 sec) v average (at 1400 sec )

Traffjc Flow Simulation 13

Simulation result U=7.00 m/s

v=7.00

v<U v=0.00

Traffjc wave still exist. v average (at 600 sec) v average (at 1400 sec ) SD of v (at 1400 sec )

Traffjc Flow Simulation 14

U=3.50 m/s

v average (at 600 sec) v average (at 1400 sec ) SD of v (at 1400 sec )

Traffjc Flow Simulation 15

Conclusion

U=7.00 m/s

v=7.00

v<U v=0.00

Traffjc wave still exist.

Control every cars on the circuit road with FollowerStopper can give 3 results.

Flow- average speed at U Jam- average velocity lower than U Stop - v of every single one = 0.00

v average (at 600 sec) v average (at 1400 sec ) SD of v (at 1400 sec )

Traffjc Flow Simulation 16