Modelling Supported Driving as an Optimal Control Cycle: Framework and Model Characteristics

Modelling Supported Driving as an Optimal Control Cycle: Framework and Model Characteristics

Wang, M.
Treiber, M.
Daamen, W.
Hoogendoorn, S.P.
Van Arem, B.

Civil Engineering and Geosciences

Transport & Planning

2013-06-07

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 charac- teristics 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.

advanced driver assistance systems
cooperative systems
car-following
optimal control
stability analyses

http://resolver.tudelft.nl/uuid:cdc692e3-7910-4654-a912-9b7cb3efe3ec

doi: 10.1016/j.sbspro.2013.05.027

Elsevier

1877-0428

Procedia - Social and Behavioral Sciences, 80, 2013

Institutional Repository

journal article

© 2013 The Author(s)