Trajectory Planning for Aerospace Vehicles using Deep Reinforcement Learning.
Abstract not provided.
Kapilavai, Dheeraj↗
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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.
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Estimating the Breakeven Cost of Delivered Electricity to Charge Class 8 Electric Tractors
As vehicle electrification expands from the light-duty sector to include larger commercial medium- and heavy-duty vehicles, businesses need to decide if electrification is appropriate for their fleets. A key factor in this decision will be the total cost of ownership for on-road electric Class 8 tractors compared to their combustion counterparts. This report examines the breakeven price of electricity for electric Class 8 tractor charging to address its importance in the total cost of ownership for the operation of an electrified fleet and to account for the inherent differences of higher-power charging. To understand the likely cost of delivered energy--in this report the breakeven price--to charge electric tractors, this study followed an analysis framework that considers a wide range of factors to estimate the breakeven price to charge at various station types. This requires an estimation of electric vehicle adoption trajectories and analysis of real-world fleet data to assess energy needs of heavy-duty electric tractors and to determine expected charging station demand over time. Station demand informs the level of electric vehicle supply equipment (EVSE) deployment that is necessary at each station type, as well as the site utilization and anticipated load profiles. Then, by accounting for a wide range of capital investments, operating costs, and other expenses, a breakeven price of energy is determined.
33 ADVANCED PROPULSION SYSTEMS↗
Connected Vehicle-Based Traffic Signal Coordination
This study presents a connected vehicles (CVs)-based traffic signal optimization framework for a coordinated arterial corridor. The signal optimization and coordination problem are first formulated in a centralized scheme as a mixed-integer nonlinear program (MINLP). The optimal phase durations and offsets are solved together by minimizing fuel consumption and travel time considering an individual vehicle’s trajectories. Due to the complexity of the model, we decompose the problem into two levels: an intersection level to optimize phase durations using dynamic programming (DP), and a corridor level to optimize the offsets of all intersections. In order to solve the two-level model, a prediction-based solution technique is developed. The proposed models are tested using traffic simulation under various scenarios. Compared with the traditional actuated signal timing and coordination plan, the signal timing plans generated by solving the MINLP and the two-level model can reasonably improve the signal control performance. When considering varies vehicle types under high demand levels, the proposed two-level model reduced the total system cost by 3.8% comparing to baseline actuated plan. MINLP reduced the system cost by 5.9%. It also suggested that coordination scheme was beneficial to corridors with relatively high demand levels. For intersections with major and minor street, coordination conducted for major street had little impacts on the vehicles at the minor street.
42 ENGINEERING↗
Developing Novel Performance Measures for Traffic Congestion Management and Operational Planning Based on Connected Vehicle Data
In this study, the authors present their efforts in exploring a new type of traffic data, referred to as internet-connected vehicle (ICV) data, for traffic congestion management and operational planning. Most currently manufactured vehicles contain onboard GPS and cellular modules, and they constantly connect to automobile manufacturers' clouds via cellular networks and upload their status. Some automobile manufacturers have recently redistributed the nonpersonal part of such data, such as geolocation, to third-party organizations for innovative applications. Compared with the traditional vehicle GPS data, the ICV data contain high-resolution GPS waypoints accompanied with the vehicles' abnormal moving events (e.g., hard braking). The ICV data also have huge potential in congestion management and operational planning. They explore to identify and analyze traffic congestion on both freeways and arterials using the ICV data. The ICV data adopted for this research are redistributed by Wejo Data Service, representing 10%-15% of all moving vehicles in the Dallas-Fort Worth (DFW) area in Texas. Through one case study for a freeway segment and one for an arterial segment, new traffic performance metrics based on the characteristics of ICV data have been presented. The highlights of these efforts are as follows: (I) queue length and propagation at freeway bottlenecks can be directly measured based on where and when most internet-connected vehicles slow down and join the queue; (II) an internet-connected vehicle's actual delay time on arterials can be directly measured according to its slow movement percentage, without assuming the nondelay travel speed; and (III) the ICV data set are also combined with the high-resolution traffic signal events to generate a ground-truth time-space diagram (TSD) on arterials - a common visualization of arterial signal performance for transportation planning and operations.
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Deep Learning-Based Queue-Aware Eco-Approach and Departure System for Plug-In Hybrid Electric Buses at Signalized Intersections: A Simulation Study
Eco-Approach and Departure (EAD) has been considered as a promising eco-driving strategy for vehicles traveling in an urban environment, where information such as signal phase and timing (SPaT) and geometric intersection description is well utilized to guide vehicles passing through intersections in the most energy-efficient manner. Previous studies formulated the optimal trajectory planning problem as finding the shortest path on a graphical model. While this method is effective in terms of energy saving, its computation efficiency can be further enhanced by adopting machine learning techniques. In this paper, we propose an innovative deep learning-based queue-aware eco-approach and departure (DLQ-EAD) system for a plug-in hybrid electric bus (PHEB), which is able to provide an online optimal trajectory for the vehicle considering both the downstream traffic condition (i.e. traffic lights, queues) and the vehicle powertrain efficiency. Based on optimal solutions obtained from the graph-based trajectory planning algorithm (GTPA), a deep neural network (DNN) is developed to learn the optimal vehicle speed for the next time step given its current state. It is demonstrated that the trained DNN can provide energy-efficient trajectories with high computational efficiency and high flexibility adopting to dynamic changes in the surrounding environment. To address the impact of downstream traffic, a queue prediction model is further developed using data from radars and connected vehicles (CVs), as well as signal timing data from SPaT messages. A comprehensive simulation study in the microscopic traffic modeling software PTV VISSIM shows that the proposed DLQ-EAD can achieve 18.7%-24.0% energy efficiency improvements for a single PHEB on various traffic congestion levels. The proposed queue prediction model can be of practical significance even at low penetration rates of CVs. Specifically, additional energy savings of 2.0%-8.2% can be further achieved with 20% vehicles in the network.
Ye, Fei↗
Deploying Traffic Smoothing Cruise Controllers Learned from Trajectory Data
Autonomous vehicle-based traffic smoothing con- trollers are often not transferred to real-world use due to challenges in calibrating many-agent traffic simulators. We show a pipeline to sidestep such calibration issues by collecting trajectory data and learning controllers directly from trajectory data that are then deployed zero-shot onto the highway. We construct a dataset of 772.3 kilometers of recorded drives on the I-24. We then construct a simple simulator using the recorded drives as the lead vehicle in front of a simulated platoon consisting of one autonomous vehicle and five human followers. Using policy-gradient methods with an asymmetric critic to learn the controller, we show that we are able to improve average MPG by 11% in simulation on congested trajectories. We deploy this controller to a mixed platoon of 4 autonomous Toyota RAV-4’s and 7 human drivers in a validation experiment and demonstrate that the expected time-gap of the controller is maintained in the real world test. Finally, we release the driving dataset [1], the simulator, and the trained controller at https://github.com/nathanlct/trajectory-training-icra.
32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
String instability mitigation of adaptive cruise control without modifying control laws: trajectory shaper and parameter estimation
Vehicle automation technologies equip vehicles with adaptive cruise control (ACC) systems, which relieve driving fatigue. However, recent studies have shown that the current ACC systems are string-unstable (i.e., exacerbate traffic congestion). To achieve string stability, most existing studies directly modify the control algorithms of ACC systems. Alternatively, this study proposes a trajectory shaper (TS)-based method, which only modifies the trajectory information of the predecessor vehicle, so that the ego vehicle driven by a string-unstable ACC system leverages the modified trajectory information to achieve string stability. To devise the TS-based method, an offline-online parameter estimation method integrating batch optimization and an extended Kalman filter is applied to estimate the parameters of an ACC system. The proposed TS-based method is cost-effective during implementation, as it avoids modifying existing ACC control algorithms (which entails a complex analysis of control systems and parameter tuning). In conclusion, the effectiveness of the proposed TS-based method is validated through extensive numerical experiments.
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Optimal time trajectory and coordination for connected and automated vehicles
Not Available
Malikopoulos, Andreas A.↗
An Advanced Microscopic Energy Consumption Model for Automated Vehicle:Development, Calibration, Verification
The automated vehicle (AV) equipped with the Adaptive Cruise Control (ACC) system is expected to reduce the fuel consumption for the intelligent transportation system. This paper presents the Advanced ACC-Micro (AA-Micro) model, a new energy consumption model based on micro trajectory data, calibrated and verified by empirical data. Utilizing a commercial AV equipped with the ACC system as the test platform, experiments were conducted at the Columbus 151 Speedway, capturing data from multiple ACC and Human-Driven (HV) test runs. The calibrated AA-Micro model integrates features from traditional energy consumption models and demonstrates superior goodness of fit, achieving an impressive 90% accuracy in predicting ACC system energy consumption without overfitting. A comprehensive statistical evaluation of the AA-Micro model's applicability and adaptability in predicting energy consumption and vehicle trajectories indicated strong model consistency and reliability for ACC vehicles, evidenced by minimal variance in RMSE values and uniform RSS distributions. Conversely, significant discrepancies were observed when applying the model to HV data, underscoring the necessity for specialized models to accurately predict energy consumption for HV and ACC systems, potentially due to their distinct energy consumption characteristics.
Ma, Ke↗
A Method of Optimal Control for Class 8 Vehicle Platoons Over Hilly Terrain
This work develops and implements an NMPC control system to facilitate fuel-optimal platooning of Class 8 vehicles over challenging terrain. Prior research has shown that Cooperative Adaptive Cruise Control (CACC), which allows multiple Class 8 vehicles to follow in close succession, can save between 3 and 8% in overall fuel consumption on flat terrain. However, on more challenging terrain, e.g. rolling hills, platooning vehicles can experience diminished fuel savings, and, in some cases, an increase in fuel consumption relative to individual vehicle operation. This research explores the use of Nonlinear Model Predictive Control (NMPC) with predefined route grade profiles to allow platooning vehicles to generate an optimal velocity trajectory with respect to fuel consumption. In order to successfully implement the NMPC system, a model relating vehicle velocity to fuel consumption was generated and validated using experimental data. Additionally, the predefined route grade profiles were created by using the vehicle's GPS velocity over the desired terrain. The real-time NMPC system was then implemented on a two-truck platoon operating over challenging terrain, with a reference vehicle running individually. The results from NMPC platooning are compared against fuel results from a classical proportional-integral-derivative (PID) headway control method. Furthermore, this comparison yields the comparative fuel savings and energy efficiency benefit of NMPC system. In the final analysis, significant fuel savings of greater than 14 and 20% were seen for the lead and following vehicles relative to their respective traditional cruise control and platooning architectures.
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Control architecture for predictive and optimal vehicle operations in a single vehicle environment
There is disclosed a cloud computing control system for vehicle speed control and also for control of a vehicle in a platoon. The cloud computing control system determines a speed trajectory and neutral coasting command for a first vehicle of the platoon and a vehicle controller determines a reference speed for the first vehicle in response to the speed trajectory and the neutral coasting command, and is response to one or more vehicle specific factors associated with the first vehicle.
Borhan, Hoseinali↗
Formation and reconfiguration of tight multi-lane platoons
Advances in vehicular communication technologies are expected to facilitate cooperative driving in the future. Connected and Automated Vehicles (CAVs) are able to collaboratively plan and execute driving maneuvers by sharing their perceptual knowledge and future plans. In this paper, an architecture for autonomous navigation of tight multi-lane platoons traveling on public roads is presented. Using the proposed approach, CAVs are able to form single or multi-lane platoons of various geometrical configurations. They are able to reshape and adjust their configurations according to changes in the environment. The proposed architecture consists of two main components: an offline motion planner system and an online hierarchical control system. The motion planner uses an optimization-based approach for cooperative formation and reconfiguration in tight spaces. A constrained optimization scheme is used to plan smooth, dynamically feasible and collision-free trajectories for all the vehicles within the platoon. The paper addresses online computation limitations by employing a family of maneuvers precomputed offline and stored on a look-up table on the vehicles. The online hierarchical control system is composed of three levels: a traffic operation system (TOS), a decision-maker, and a path-follower. The TOS determines the desired platoon reconfiguration. The decision-maker checks the feasibility of the reconfiguration plan based on real-time information about the surrounding traffic. The reconfiguration maneuver is executed by a low-level path-following feedback controller in real-time. The effectiveness of the approach is demonstrated through simulations of three case studies: (1) formation reconfiguration (2) obstacle avoidance, and (3) benchmarking against behavior-based planning in which the desired formation is achieved using a sequence of motion primitives.
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Optimal Eco-Driving Control of Connected and Autonomous Vehicles Through Signalized Intersections
This article focuses on the speed planning problem for connected and automated vehicles (CAVs) communicating to traffic lights. The uncertainty of traffic signal timing for signalized intersections on the road is considered. The eco-driving problem is formulated as a data-driven chance-constrained robust optimization problem. Effective red-light duration (ERD) is defined as a random variable, and describes the feasible passing time through the signalized intersections. Usually, the true probability distribution for ERD is unknown. Consequently, a data-driven approach is adopted to formulate chance constraints based on empirical sample data. This incorporates robustness into the eco-driving control problem with respect to uncertain signal timing. Dynamic programming (DP) is employed to solve the optimization problem. The simulation results demonstrate that the proposed method can generate optimal speed reference trajectories with 40% less vehicle fuel consumption, while maintaining the arrival time at a similar level compared to a modified intelligent driver model (IDM). The proposed control approach significantly improves the controller's robustness in the face of uncertain signal timing, without requiring to know the distribution of the random variable a priori.
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Total cost of ownership of vehicle electrification and fuel switching options for light-duty and heavy-duty vehicles
Projecting the transition from combustion engines to battery-based powertrains is complex becuase it involves numerous interdependent decisions. This study estimates total cost of ownership (TCO) to assess the economic viability of powertrain electrification, focusing exclusively on advances in vehicle and fuel technologies. Under two bounding technology-progress scenarios, we develop vehicle designs and fuel cost trajectories, which serve as inputs to TCO projections for selected classes from 2021 to 2050. We analyzed a small sport utility vehicle (SUV) to represent the light-duty vehicle (LDV) sector, and four medium- and heavy-duty vehicle (MHDV) classes: Class 6 box delivery, Class 8 drayage, Class 8 long-haul, and Class 8 transit bus. For each class, we compared the TCO of battery electric vehicles (BEVs) and fuel cell hybrid electric vehicles (FCHEVs) against conventional internal combustion engine vehicles (ICEVs). The results show that modern ICEVs generally have lower TCO; however, BEVs and FCHEVs could match or have lower TCOs than ICEVs over time, depending on technological progress. In LDVs, BEV300 is projected to deliver the lowest TCO by 2050, particularly under the high-progress scenario. In MHDVs, both BEVs and FCHEVs could become more cost-competitive than ICEVs by 2050 in the high-progress case. Beyond these results, the findings suggest further investigation is warranted for BEV charging infrastructure, FCHEV hydrogen refueling infrastructure, and MHDV charging strategies. In conclusion, these factors could reduce the fuel-cost share of TCO and enhance the competitiveness of BEVs and FCHEVs relative to ICEVs.
Battery electric vehicle↗
From Sim to Real: A Pipeline for Training and Deploying Traffic Smoothing Cruise Controllers
Designing and validating controllers for connected and automated vehicles to enhance traffic flow presents significant challenges, from the complexity of replicating real-world stop-and-go traffic dynamics in simulation, to the intricacies involved in transitioning from simulation to actual deployment. In this work, we present a full pipeline from data collection to controller deployment. Specifically, we collect 772 km of driving data from the I-24 in Tennessee, and use it to build a one-lane simulator, placing simulated vehicles behind real-world trajectories. Using policy-gradient methods with an asymmetric critic, we improve fuel efficiency by over 10% when simulating congested scenarios. Our comprehensive approach includes reinforcement learning for controller training, software verification, hardware validation and setup, and navigating various sim-to-real challenges. Furthermore, we analyze the controller's behavior and wave-smoothing properties, and deploy it on four Toyota Rav4’s in a real-world validation experiment on the I-24. Lastly, we release the driving dataset, the simulator and the trained controller, to enable future benchmarking and controller design.
42 ENGINEERING↗
Cooperative On-Ramp Merging with Time-Varying Vehicle-to-Vehicle Communication Delay Compensation via a Model-Free Approach
Cooperative merging strategies enabled by vehicle-to-vehicle (V2V) communication have shown promise in addressing congestion, fuel inefficiency, and collision risks. However, their performance can be severely degraded by time-varying and uncertain communication delays-an issue often overlooked in existing research, which primarily focuses on merging sequence determination and trajectory planning. Furthermore, practical considerations such as heterogeneous vehicle dynamics, varying road conditions, and real-time implementation complexities are frequently neglected. This paper presents a model-free, online planning framework for cooperative on-ramp merging of connected and automated vehicles (CAVs), explicitly accounting for time-varying V2V communication delays. Without relying on detailed vehicle dynamics, the proposed method introduces a data-driven delay compensation scheme. A co-simulation platform integrating high-fidelity vehicle dynamics, traffic simulation (SUMO), and V2V communication within MATLAB/Simulink is developed to evaluate the proposed method. Simulation results demonstrate that unaddressed V2V communication delays significantly impair merging performance. In contrast, the proposed framework enhances intervehicle distance tracking and maintains low CO2 emissions and fuel consumption, under communication delay across different communication frequencies. In conclusion, its lightweight design also facilitates real-time implementation, making it well-suited for deployment in practical CAV systems.
Accounting↗
Vehicle Tracking
The detection and tracking of vehicles moving at hypersonic speeds (> Mach 5) at altitudes of ~100 km has been of growing interest due to the ongoing development of hypersonic glide vehicles (HGVs) by the U.S., Russia and China. This challenge is notably different from traditional ballistic missile systems whose re-entry vehicles move at hypersonic velocities but at much higher altitudes on a ballistic course. Hypersonic glide vehicles are also designed to be able to make sudden turns along their flight path making prediction of their trajectories difficult. Their ability to maneuver, combined with their high velocity and altitude make them difficult to track. The combination of these characteristics presents a challenge for anyone attempting to defend against a hypersonic glide vehicle attack by generally shortening the time available to react. That reaction can involve moving potential targets or attempting to detect the hypersonic glide vehicle and intercept it before it reaches the intended target. Figure 1 compares the trajectory of hypersonic vehicles compared to that of a traditional ballistic missile.
42 ENGINEERING↗