mpc_connected_cars - ARPA-E NEXTCAR Phase I

ARPA-E NEXTCAR Phase I

The Experimental Platform

Publications:

Guanetti, J., Kim, Y., & Borrelli, F. (2018). Control of connected and automated vehicles: State of the art and future challenges. Annual Reviews in Control, 45, 18-40.

arcadia-april-5.mp4

Connected Eco Drive on Arterial Roads

Connected Eco-Drive in city driving exploits vehicle-to-infrastructure connectivity (V2I) to receive Signal Phasing and Timing (SPaT) from the upcoming traffic lights and use this information for optimal velocity planning and safe stop-and-go adaptive cruise control.

Measured Energy Savings up to 30%

Publications:

Connected Eco Drive on Highways

Connected Eco-Drive on highways exploits vehicle-to-vehicle (V2V) and vehicle-to-cloud (V2C) connectivity to receive front vehicle velocity and slope forecasts and historical trip data, and uses this information to design a safe and energy efficient adaptive cruise control.

Measured Energy Savings up to 20%

Publications:

Connected Eco-charge

Eco-charge is a data-driven supervisory energy management strategy (EMS) for PHEVs that aims at improving the real-world PHEV energy efficiency via V2C connectivity. The control architecture augments the on-board EMS with a cloud-based parameter learning service that leverages historical trip data with same/similar routes.

Measured Energy Savings up to 10%

*Charge Depleting-Charge Sustaining (CD-CS) energy management strategy: vehicles mostly operate with electricity (CD phase) until the battery state of charge (SOC) reaches a minimum limit, and afterwards they are mostly operated on fuel, maintaining the SOC close to that level (CS phase).

Publications:

Choi, Y., Guanetti, J., Moura, S., & Borrelli, F. (2020). Data-driven energy management strategy for plug-in hybrid electric vehicles with real-world trip information. To appear at the 21st International Federation of Automatic Control (IFAC2020)

google-route.mp4

Fastest route

eco-route.mp4

Eco-route

Connected Eco-Route

Connected Eco-Route solves the minimum energy routing problem for connected plug-in hybrid electric vehicles by leveraging V2V and V2C connectivity. It tackles challenges such as the limited on-board energy storage, the hybrid powertrain modeling, and the effect of traffic on energy consumption and travel time.

Measured Energy Savings up to 20%

Publications:

Guanetti, J., Kim, Y., & Borrelli, F. (2019, December). Eco-routing of connected plug-in hybrid electric vehicles. In 2019 IEEE 58th Conference on Decision and Control (CDC) (pp. 2245-2250). IEEE.

Hardware-In-the-Loop

We designed a hardware-in-the-loop (HIL) simulation setup for repeatable testing of CAVs in dynamic, real-world scenarios. The HIL setup combines software components for:

traffic micro-simulation based on measured vehicle counts (VisSim),
the vehicle/environment interaction including perception sensors, road topology, and signalized intersections, also driven by real-world measurements (PreScan),

and the following hardware components:

a test vehicle on a dynamometer, so that vehicle dynamics, powertrain dynamics and energy consumption are like in an on-road test,
on-board electronic control units for real-time control.

Publication:

Kim, Y., Tay, S., Guanetti, J., Borrelli, F., & Miller, R. (2018). Hardware-in-the-loop for connected automated vehicles testing in real traffic. In 14th International Symposium on Advanced Vehicle Control (AVEC), Beijing, China.

cacc_city.mp4

Connected Platoons in City Driving

We designed and implemented a vehicle platooning system in an urban traffic setting in order to increase road throughput at intersections. Our approach relies on V2V for communicating velocity forecast and V2I for traffic light Signal Phasing and Timing (SPaT) information.

Publications:

Smith, S. W., Kim, Y., Guanetti, J., Kurzhanskiy, A. A., Arcak, M., & Borrelli, F. (2019, June). Balancing Safety and Traffic Throughput in Cooperative Vehicle Platooning. In 2019 18th European Control Conference (ECC) (pp. 2197-2202). IEEE.

Connected Platoon Coordination

CAVS can exploit V2V to collaboratively plan and execute driving maneuvers by sharing their perceptual knowledge and future plans.

Publications:

Firoozi, R., Zhang, X., & Borrelli, F. (2020). Formation and Reconfiguration of Tight Multi-Lane Platoons. arXiv preprint arXiv:2003.08595.

Shared Perception

V2V and V2I are used to create a shared perception system where CAVs communicate their perceptual knowledge with each other. Our shared perception system can be useful for driver warning systems or safer motion planning and control of CAVs in uncertain environments.

Publications:

Kim, Y., Onesto, L., Tay, S., Yang, L., Guanetti, J., Savaresi, S., & Borrelli, F. (2020, June). Shared Perception for Connected and Automated Vehicles. To appear at the 2020 IEEE Intelligent Vehicles Symposium (IV2020)