Open RAN Security -Current Progress and Next Steps
5G Open RAN security talk given to the IEEE Open RAN Security Working Group.
5G↗
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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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Conflict Detection in Open RAN with Recurrent Neural Networks Using Geometric Manifolds
Allowing third-party applications on Radio Access Network (RAN) Intelligent Controllers (RICs) within the OpenRAN (O-RAN) framework introduces conflicting interactions that are often difficult to detect in advance. These conflicts, occurring between third-party applications in the Near RealTime RIC (Near-RT RIC), known as xApps, can lead to performance degradation and instability in O-RAN if not identified early. Existing conflict detection and mitigation solutions in the literature assume that the conflicts are known beforehand, which is not always accurate due to the complex and often hidden relationships between control parameters and Key Performance Indicators (KPIs). In this paper, we propose a novel Recurrent Neural Network (RNN) to detect both known and unknown conflicts in O-RAN xApps as specified in the O-RAN standards. We model the xApps, control parameters, and KPIs with nodes and edges to create graph structures and use the hidden nonEuclidean geometric properties of the Riemannian manifold to train the RNN model. The performance of this proposed model is validated using evaluation metrics and compared with benchmarks. Results demonstrate that the proposed RNN model, leveraging Riemannian geometric properties, can achieve 100% of the F1-score provided by an optimal solution in just 20 iterations.
5G↗
Conflict Detection in Open RAN with Recurrent Neural Networks Using Geometric Manifolds
Allowing third-party applications on Radio Access Network (RAN) Intelligent Controllers (RICs) within the OpenRAN (O-RAN) framework introduces conflicting interactions that are often difficult to detect in advance. These conflicts, occurring between third-party applications in the Near RealTime RIC (Near-RT RIC), known as xApps, can lead to performance degradation and instability in O-RAN if not identified early. Existing conflict detection and mitigation solutions in the literature assume that the conflicts are known beforehand, which is not always accurate due to the complex and often hidden relationships between control parameters and Key Performance Indicators (KPIs). In this paper, we propose a novel Recurrent Neural Network (RNN) to detect both known and unknown conflicts in O-RAN xApps as specified in the O-RAN standards. We model the xApps, control parameters, and KPIs with nodes and edges to create graph structures and use the hidden nonEuclidean geometric properties of the Riemannian manifold to train the RNN model. The performance of this proposed model is validated using evaluation metrics and compared with benchmarks. Results demonstrate that the proposed RNN model, leveraging Riemannian geometric properties, can achieve 100% of the F1-score provided by an optimal solution in just 20 iterations.
5G↗
Machine Learning–Guided Boolean Matrix Inference for Real-Time O-RAN Conflict Detection
Open Radio Access Networks (O-RAN) are emerging, software-driven cellular architectures that promote flexibility by enabling components from different vendors to interoperate. Multiple control applications called xApps can independently adjust network parameters in near real time, often without awareness of each other's actions. This creates a system highly prone to unintended conflicts and performance degradation due to the inherent complexity of such openness. To model such systems and ultimately prevent or mitigate xApp conflicts, it is essential to understand the dynamic relationships between xApps (A), the control parameters they adjust (P), and the resulting KPI responses (K). While the mappings from A to P and from K to A can often be derived from xApp specifications, the relationship from P to K is typically hidden within the system’s dynamics and must be inferred from observed data. We propose a novel data-driven Boolean inference framework that uncovers the hidden P?K dependencies using machine learning and interpretable rule induction. Continuous parameters and KPIs are first binarized using decision tree classifiers, and a binary influence matrix L is then inferred by solving Boolean matrix equations over time. This compact representation improves interpretability and enables real-time tracking of dynamically evolving parameter-KPI dependencies. We demonstrate the effectiveness of our method in a realistic mobile handover scenario, where it accurately recovers the underlying logic and enables proactive conflict detection.
42 - ENGINEERING↗
Risk-Aware Reinforcement Learning Framework for User-Centric O-RAN
The evolution of Open Radio Access Networks (O-RAN) presents an opportunity to enhance network performance by enabling dynamic orchestration of configuration and optimization parameters (COPs) through online learning methods. However, leveraging this potential requires overcoming the limitations of traditional cell-centric RAN architectures, which lack the necessary flexibility. On the other hand, despite their recent popularity, the practical deployment of online learning frameworks, such as Deep Reinforcement Learning (DRL)-based COP optimization solutions, remains limited due to their risk of deteriorating network performance during the exploration phase. In this article, we propose and analyze a novel risk-aware DRL framework for user-centric RAN (UC-RAN), which offers both the architectural flexibility and COP optimization to exploit this flexibility. We investigate and identify UC-RAN COPs that can be optimized via a soft actor-critic algorithm implementable as an O-RAN application (rApp) to jointly maximize latency satisfaction, reliability satisfaction, area spectral efficiency, and energy efficiency. We use the offline learning on UC-RAN to reliably accelerate DRL training, thus minimizing the risk of DRL deteriorating cellular network performance. Results show that our proposed solution approaches near-optimal performance in just a few hundred iterations with a decrease in risk score by a factor of ten.
6G and beyond↗
Conflict Detection in Open Radio Access Network (O-RAN) Control
A brief overview of the O-RAN approach to 5G cellular networking, discussion of the problem of conflicts among control functions under this paradigm, and research toward an approach detecting these conflicts using machine learning. This talk provides a high-level overview of academic research associated with an ongoing LDRD.
5G↗
MINERvA open-data product
MINERvA is THE neutrino cross section experiment Scintillator tracker/calorimeter ran in the NuMI beam at Fermilab same beam as the MINOS and NOvA oscillation experiments With our data, we are solving systematic shortcomings in neutrino interaction rate/spectra that are the largest part of the systematic uncertainty in today s (and tomorrow s) measurements. Some aspects have NO equivalent in the neutrino program future. Scientific scope includes both particle and nuclear physics GeV scale cross sections, A dependence, MeV scale effects most published measurements for a neutrino experiments ever (well, tied with T2K) with 25% more papers in the pipeline.
Gran, Rik [Minnesota U., Duluth] (ORCID:0000000216↗
Comparison of URANS and LES predictions for the open phase of the OECD NEA CSNI fluid structure interaction CFD benchmark
The OECD NEA CSNI WGAMA CFD Task Group ran a benchmark in 2020 and 2021 to assess the predictive capabilities of coupled fluid structure interaction (FSI) CFD analysis methods. This paper presents the predictions made for the open phase of the benchmark using URANS and LES turbulence modelling approaches, and a comparison of the results to the experimental data. The benchmark comprised a channel containing two inline cylinders in cross-flow. The cylinders were fixed at one end, free at the other, and had measured resonant frequencies and damping properties. The URANS modelling used ANSYS Fluent 2-way coupled to ANSYS Mechanical. The LES modelling used Nek5000, 1-way coupled to Diablo. Comparisons with cross-channel velocity profiles are presented, both for the mean flow and its RMS. Comparisons are also made to the frequency spectra for point measurements of fluid velocity and pressure, and for the accelerations of the free end of each cylinder. URANS predicts the average velocity profiles relatively well, and is able to predict the velocity and acceleration spectra at the shedding frequency. However, the frequency content at the 4th harmonic of the shedding frequency is low in the URANS flow fields, and so does not excite accelerations at the resonant frequency of the cylinders. LES makes better predictions of the average profiles, and the velocity spectra agree well at both the shedding frequency and at higher frequencies. In conclusion, the 1-way coupled LES results show good agreement for acceleration spectra.
22 GENERAL STUDIES OF NUCLEAR REACTORS↗
Chemically Recyclable Analogs of Styrene–Butadiene Copolymers Enabling Perfectly Linear Ethylene–Styrene Materials with Random Phenyl Distribution
Copolymerization of cyclopentene (CP) and 4-phenylcyclopentene (4PCP) at a full range of comonomer feed ratios is reported using Ru-based ring-opening metathesis polymerization (ROMP) yielding homogeneous copolymers analogous to poly(styrene-ran-1,4-butadiene) and poly(ethylene-ran-styrene) copolymers following hydrogenation under mild conditions. In all cases, total monomer conversions of 86%–92% yielded copolymers with compositions within 4% of monomer feeds. Analysis of equilibrium copolymerization thermodynamics, rarely performed on two cycloolefin monomers with low ring strain energies, provides rational design strategies for negotiating two monomers with different equilibrium monomer concentrations. Inverse-gated decoupled 13 C NMR analysis of dyad sequences on the resulting copolymer microstructures concludes a near-random distribution of comonomer units. The copolymers produced from ROMP have number-average molar masses up to 60 kg mol –1 , moderate dispersities (1.5 ± 0.1), and high trans olefin content (86% ± 2%) while glass-transitions temperatures follow the Fox equation and span the full range between homopolymer extremities of PCP (−96 °C) and P4PCP (17 °C). Unlike most prevulcanized elastomers, these materials undergo facile chemical recycling to monomer, producing complete ring-closing metathesis depolymerization (RCMD) of the polymer back to the CP comonomers. Quantitative olefin hydrogenation produced perfectly linear polyethylene with 4%–16% of the backbone carbons containing a phenyl pendant, analogous to ES copolymers with up to 71.5% w/w styrene units but with random distribution of the aromatic pendants. Thermal properties of these materials are discussed, which span from semicrystalline to amorphous, and with T g values notably less than the reported ES copolymer analogs at similar compositions.
animal feed↗
Science Uses Deployment Operations-Advanced Wireless: Exploring Open Radio Access Network Technologies for Energy Science
Open Radio Access Network is emerging as a solution to the increasing demand for more flexible, cost-effective, and advanced mobile network infrastructures. This evolution is driven by advancements in wireless technologies and the growing complexity of deploying and managing these networks. O-RAN represents a significant shift in wireless technology, building upon the 3rd Generation Partnership Project framework to foster openness, flexibility, and interoperability. By decoupling hardware and software components, Open Radio Access Network enables a multi-vendor ecosystem that encourages innovation and diverse solutions. Open Radio Access Network's potential extends beyond traditional wireless applications, with growing interest in its role in advancing energy systems, particularly in the context of smart grids, microgrids, and the integration of renewable energy sources. While the role of open-wireless technologies in driving energy transformation is increasingly recognized, further exploration is needed. Vendors and utilities are investigating how Open Radio Access Network technologies can optimize energy use cases and improve the performance of 5G and beyond applications. This report outlines efforts under the Science Uses Deployment Operations Advance Wireless project, a collaboration between the National Laboratory of the Rockies' Cybersecurity Research Center, Argonne National Laboratory, Lawrence Berkeley National Laboratory, and the Department of Energy's Energy Science Network research and operations staff. The focus of this project is on due diligence, through testing and evaluation, preparing for the deployment of advanced wireless infrastructure for scientific use cases, with an emphasis on Open Radio Access Network technology, its components, integrations, and its ability to support vertical stack application across the energy sector. Additionally, the report highlights the value cases for utilities, underscoring how adopting open wireless standards can accelerate the evolution of energy systems, foster innovation, and improve the integration of critical energy technologies.
24 POWER TRANSMISSION AND DISTRIBUTION↗
Multidimensional Modeling of Mixture Formation in a Hydrogen-Fueled Heavy-Duty Optical Engine With Direct Injection
Hydrogen (H 2 ), as a carbon-free fuel, is considered as one of the most promising solutions to reduce the carbon footprint of hard-to-decarbonize energy and transportation sectors. As such, hydrogen-fueled internal combustion engines (H 2 ICEs) have recently been receiving increasing attention, particularly in applications such as on-road/off-road heavy-duty transport and combined heat and power. The direct injection (DI) of gaseous hydrogen into the combustion chamber offers great potential for achieving high power density and high engine efficiency, while mitigating the risk of backfire and reducing pre-ignition. However, the numerical simulation of H 2 DI system remains a formidable challenge associated with the high computational cost of reproducing compressible supersonic flow and shocks in narrow injector passages and in near-nozzle regions. In general, there is a lack of well-established and validated practices for the modeling of high-pressure H 2 DI in large-bore engines. Here, to this end, this study focuses on computational fluid dynamics (CFD) modeling of the mixture formation process in a heavy-duty optical engine employing a medium-pressure H 2 DI system. Both large eddy simulations (LES) and Reynolds Averaged Navier–Stokes (RANS) simulations are performed and evaluated against optical data. Gaseous hydrogen is injected into the combustion chamber via a centrally located outward opening hollow-cone injector at a pressure of 40 bar. Simulations are carried out for two injection timings, namely, −120 and −60 °CA. The numerical predictions for H 2 distribution in different horizontal and vertical planes during the compression stroke are systematically compared against optical data obtained through planar laser-induced fluorescence (PLIF) measurements. Overall, the LES approach using the Dynamic Structure model is found to have good predictive capabilities for the early jet penetration in terms of length and shape, as well as the later H 2 distributions. However, the unsteady RANS approach with the renormalization group $k - ϵ$ model, which is widely used by industry to model heavy-duty ICEs, significantly underpredicts the H 2 mixing, even at similar mesh resolution to that used in LES. These results indicate that there is a need for the improvement of mixing submodels within the RANS approach when applied to H 2 DI simulations.
LES↗
Validation of OpenPronghorn for Periodic Hill Flow Separation
OpenPronghorn is an open-source, MOOSE-based thermal-hydraulics simulation tool used for advanced reactor analysis. As an open-source code, it offers a transparent framework for validating governing equations, assumptions, and numerical methods against established benchmarks. This study evaluates OpenPronghorn's RANS turbulence model against the ERCOFTAC Case 81 periodic hill benchmark, a standard test case for separated turbulent flow featuring curved-wall separation, recirculation, shear-layer development, and reattachment. Streamwise velocity profiles predicted by OpenPronghorn were compared to reference LES data at multiple x/h locations. Results show that OpenPronghorn captures the overall trend of the velocity profiles, but the largest discrepancies occur in the separated-flow region, where turbulence is highly anisotropic and strongly affected by adverse pressure gradients and wall curvature—conditions that are inherently difficult for standard RANS models to resolve. Future work will test alternative k-e model variants and correction terms to improve prediction accuracy in this region.
42 - ENGINEERING↗
Openpronghorn
OpenPronghorn is a simulation tool specifically tailored for modeling thermal-hydraulic phenomena in advanced nuclear reactors. It is built on the Multiphysics Object-Oriented Simulation Environment (MOOSE), an open-source platform that facilitates the development of high-performance scientific computing applications. OpenPronghorn solves the Navier-Stokes equations, which describe the conservation of mass, momentum, and energy in fluid flows, using the finite volume numerical method. The code supports a wide range of fluid flow conditions that are applicable to nuclear reactors, including incompressible and weakly compressible flows, as well as single-phase and multiphase flows. It is capable of modeling diverse flow regimes, including laminar and turbulent flows, using various turbulence models such as the standard k-epsilon models, the v2f model, and the mixing length model. For multiphase flows, OpenPronghorn employs a mixture a Eulerian modeling approach with mixture, drift-flux, and full Eulerian models, and includes open-sourced interfacial transfer correlations for drag, exchange, and heat transfer coming from the scientific literature. OpenPronghorn's modular design allows it to handle multiscale simulations, ranging from detailed Reynolds-Averaged Navier Stokes (RANS) simulations to coarse-mesh and lumped parameter models. This flexibility enables users to perform high-fidelity simulations of specific reactor components as well as system-level analyses of entire reactor circuits. The code can be coupled with other MOOSE-based tools using the MultiApp system, allowing for the transfer of coupling quantities such as mass flow rates, heat fluxes, and boundary conditions between different simulation scales. One of the main features of OpenPronghorn is the it includes built-in validation cases from the open-source scientific literature and supports the implementation of user-defined models and correlations through MOOSE's FunctorMaterial system. OpenPronghorn is designed to be computationally efficient, leveraging the SIMPLE projection method for large-scale problems, and can be run on high-performance computing systems to handle the extensive computational demands of detailed reactor simulations. Overall, OpenPronghorn is a versatile and robust tool that provides critical insights into the thermal-hydraulic behavior of advanced nuclear reactors, supporting the design, safety, and optimization of next-generation nuclear energy systems.
Retamales, Mauricio Eduardo Tano [Idaho National L↗
Measurement of the Neutron Magnetic Form Factor at Large Momentum Transfer Using the Super-Bigbite Apparatus in Jefferson Lab Hall-A
The nucleon elastic electromagnetic form factors help us study the electromagnetic structure of the nucleon, benchmark theoretical models, and improve our understanding of non-perturbative quantum chromodynamics and confinement. The Nobel Prize-winning electron-nucleon scattering experiments by Robert Hofstadter and collaborators in the 1950s at Stanford High Energy Physics Lab were the first nucleon form factor measurements performed using leptonic probes. The Super Bigbite Spectrometer (SBS) program at Hall-A of Jefferson Lab represents the latest efforts to measure nucleon form factors. This ambitious program aims to significantly extend the current data set in terms of square momentum transfer (Q2) with high precision. The advent of novel detector technologies, like Gas Electron Multipliers (GEM), which provide excellent position resolution (< 100 ?m) while withstanding high background particle rates (several hundred MHz/cm2) over a large active area, has paved the way for open-geometry, moderate solid angle spectrometers, which are central to all form factor experiments in the SBS program. The first experimental run group in SBS ran successfully between September 2021 and February 2022, collecting data for the measurement of the magnetic form factor of the neutron Gn M at five squared momentum-transfer values: 3.0, 4.5, 7.5, 9.8, and 13.5 (GeV /c)2. This extends the existing high-precision data for Gn M by about a factor of four. The ratio technique was used, which involved the simultaneous measurement of exclusive quasielastic scattering of D(e,e?n)p and D(e,e?p)n from a deuterium target. Pre-preliminary results for D(e,e?n)p and D(e,e?p)n quasi-elastic ratio, and the neutron magnetic form factor Gn M , for Q2 points 3.0, 9.8, and 13.5 (GeV /c)2 are presented.
Mudiyanselage, Anuruddha Rathnayake↗
PV Performance Modeling and Stakeholder Engagement (Final Technical Report)
This core capability project’s objective is to increase the value of photovoltaic (PV) performance models by improving their functionality, demonstrating, and quantifying their validity, and offering a wide range of stakeholder engagement opportunities. In FY22-24, we developed new and improved modeling algorithms and functions to represent PV performance more accurately in a variety of environments and conditions. The “Model parameter toolkit” was developed and includes functions to translate between different module temperature models, incidence angle modifier models, and single-diode models. A new modeling capability named “PV Atlas” was also developed leveraging Sandia’s High Performance Computing resources. This capability allows us to investigate several questions and provide climate-specific best practices and geographic data files; all these are hosted on an interactive website on Sandia’s GitHub and can be used for training, system optimization, or to provide best practices for uncertainty reduction. For model validation, we published high-quality PV performance, and weather data; these data are well documented, filtered, and processed for quality and include examples on how to run PV simulations. We also developed well documented, standardized methods for validating PV models and ran independent model validation and 2 blind modeling intercomparisons engaging with 49 organizations from 17 countries. We co-led and contributed to a growing, well documented and maintained suite of open-source functions for PV modeling (i.e., the pvlib-python) and we outreached to the PV modeling stakeholders via the PVPMC workshops and web resources. In addition, this project supported US representation and leadership for the International Energy Agency (IEA) PVPS Task 13; specifically, members of our team led and supported 3 subtasks on: 1) Best practices for the optimization of bifacial photovoltaic tracking, 2) Extreme weather events and their multiple impact on PV power plants: Risks, failure mechanisms and mitigation strategies, and 3) Best practice guidelines for the use of economic and technical Key Performance Indicators (KPIs). This project resulted in the publications of 14 peer reviewed journal papers, 37 conference presentations, 6 SAND reports, 5 public datasets and 6 new webpages on the PVPMC website. It supported the release of 13 pvlib-python versions where 28 enhancements were from this PV Performance Modeling project. We co-organized 5 PVPMC workshops in FY22-24 with the participation of 214 unique institutions and around 700 participants. The PVPMC website was redesigned, and its reliability was improved; it receives over 50,000 visitors/year from 202 unique countries.
14 SOLAR ENERGY↗
Using AI to Reproduce Neutrino Cross Section Analysis - Prototyping the Neutrino Discovery Platform
The Neutrino Discovery Platform (NDP) aims to accelerate DUNE-era science by making the neutrino program's existing datasets analyzable through fast, reproducible, and auditable workflows. We report a working version of two of its layers, data curation and agentic orchestration, built and tested end to end on MINERvA open data. The guiding lesson throughout is that a cross section is a measurement, and not just a plotted shape, only if it carries a defensible systematic-uncertainty budget, a trustworthy unfolding, and a reproducible record. Using a single medium-energy playlist pair from the MINERvA open-data release (about $2.05\times10^{17}$ protons on target of data), we first reproduced the shapes of two published charged-current inclusive $\nu_\mu$ measurements through a complete extraction ladder: selection, background subtraction, D'Agostini unfolding, efficiency correction, and flux normalization. These shape-level reproductions ran and tracked the published results, but they lacked the systematic-uncertainty machinery that defines a MINERvA cross section. To supply it, we vendored and built the MINERvA Analysis Toolkit and developed a many-universe systematic-uncertainty tool that produces a portable covariance artifact, a parallel event-loop runner, and a per-run auditability harness. Validated against a published covariance release, the toolchain reproduces the released statistical, flux, and muon-energy-scale terms and shows that they account for roughly 63\% of the total variance, with the remainder unreleased. Using this same infrastructure, we then performed a measurement of our own design, the hadronic recoil-energy distribution of low-energy ($E_\nu<2.5$~GeV) charged-current inclusive events, and found data/simulation shape agreement of $\chi^2/\mathrm{ndf}=1.26$. Together these results show that the platform supports original physics and not only reproductions.
Breaux, Auto [Tulane U. (main)]↗
Toward the Neutrino Discovery Platform: An Auditable, Uncertainty-Bearing Toolchain for MINERvA Open-Data Cross-Section Analysis
The Neutrino Discovery Platform (NDP) aims to accelerate DUNE-era science by making the neutrino program's existing datasets analyzable through fast, reproducible, and auditable workflows. We report a working version of two of its layers, data curation and agentic orchestration, built and tested end to end on MINERvA open data. The guiding lesson throughout is that a cross section is a measurement, and not just a plotted shape, only if it carries a defensible systematic-uncertainty budget, a trustworthy unfolding, and a reproducible record. Using a single medium-energy playlist pair from the MINERvA open-data release (about $2.05\times10^{17}$ protons on target of data), we first reproduced the shapes of two published charged-current inclusive $\nu_\mu$ measurements through a complete extraction ladder: selection, background subtraction, D'Agostini unfolding, efficiency correction, and flux normalization. These shape-level reproductions ran and tracked the published results, but they lacked the systematic-uncertainty machinery that defines a MINERvA cross section. To supply it, we vendored and built the MINERvA Analysis Toolkit and developed a many-universe systematic-uncertainty tool that produces a portable covariance artifact, a parallel event-loop runner, and a per-run auditability harness. Validated against a published covariance release, the toolchain reproduces the released statistical, flux, and muon-energy-scale terms and shows that they account for roughly 63\% of the total variance, with the remainder unreleased. Using this same infrastructure, we then performed a measurement of our own design, the hadronic recoil-energy distribution of low-energy ($E_\nu<2.5$~GeV) charged-current inclusive events, and found data/simulation shape agreement of $\chi^2/\mathrm{ndf}=1.26$. Together these results show that the platform supports original physics and not only reproductions.
Breaux, Auto [Tulane U. (main)]↗
Traffic Control via Connected and Automated Vehicles (CAVs): An Open-Road Field Experiment with 100 CAVs
The CIRCLES project aims to reduce instabilities in traffic flow, which are naturally occurring phenomena due to human driving behavior. Also called “phantom jams” or “stop-and-go waves,” these instabilities are a significant source of wasted energy. Toward this goal, the CIRCLES project designed a control system, referred to as the MegaController by the CIRCLES team, that could be deployed in real traffic. Our field experiment, the MegaVanderTest (MVT), leveraged a heterogeneous fleet of 100 longitudinally controlled vehicles as Lagrangian traffic actuators, each of which ran a controller with the architecture described in this article. The MegaController is a hierarchical control architecture that consists of two main layers. The upper layer is called the Speed Planner and is a centralized optimal control algorithm. It assigns speed targets to the vehicles, conveyed through the LTE cellular network. The lower layer is a control layer, running on each vehicle. It performs local actuation by overriding the stock adaptive cruise controller, using the stock onboard sensors. The Speed Planner ingests live data feeds provided by third parties as well as data from our own control vehicles and uses both to perform the speed assignment. The architecture of the Speed Planner allows for the modular use of standard control techniques, such as optimal control, model predictive control (MPC), kernel methods, and others. The architecture of the local controller allows for the flexible implementation of local controllers. Corresponding techniques include deep reinforcement learning (RL), MPC, and explicit controllers. Depending on the vehicle architecture, all onboard sensing data can be accessed by the local controllers or only some. Likewise, control inputs vary across different automakers, with inputs ranging from torque or acceleration requests for some cars to electronic selection of adaptive cruise control (ACC) setpoints in others. The proposed architecture technically allows for the combination of all possible settings proposed previously, that is {Speed Planner algorithms} × {local Vehicle Controller algorithms} × {full or partial sensing} × {torque or speed control}. As a result, most configurations were tested throughout the ramp up to the MegaVandertest (MVT).
32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗