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Connected and automated vehicles (CAVs) can plan and actuate control that explicitly considers performance, system safety, and actuation constraints in a manner more efficient than their human-driven counterparts. In particular, eco-driving is enabled through connected exchange of information from signalized corridors that share their upcoming signal phase and timing (SPaT). This is accomplished in the proposed control approach, which follows first principles to plan a free-flow acceleration-optimal trajectory through green traffic light intervals by Pontryagin's Minimum Principle in a feedback manner. Urban conditions are then imposed from exogeneous traffic comprised of a mixture of human-driven vehicles (HVs) - as well as other CAVs. As such, safe disturbance compensation is achieved by implementing a model predictive controller (MPC) to anticipate and avoid collisions by issuing braking commands as necessary. The control strategy is experimentally vetted through vehicle-in-the-loop (VIL) of a prototype CAV that is embedded into a virtual traffic corridor realized through microsimulation. Up to 36% fuel savings are measured with the proposed control approach over a human-modelled driver, and it was found connectivity in the automation approach improved fuel economy by up to 26% over automation without. Additionally, the passive energy benefits realizable for human drivers when driving behind downstream CAVs are measured, showing up to 22% fuel savings in a HV when driving behind a small penetration of connectivity-enabled automated vehicles., Comment: 13 Figures

Generating realistic vehicle speed trajectories is a crucial component in evaluating vehicle fuel economy and in predictive control of self-driving cars. Traditional generative models rely on Markov chain methods and can produce accurate synthetic trajectories but are subject to the curse of dimensionality. They do not allow to include conditional input variables into the generation process. In this paper, we show how extensions to deep generative models allow accurate and scalable generation. Proposed architectures involve recurrent and feed-forward layers and are trained using adversarial techniques. Our models are shown to perform well on generating vehicle trajectories using a model trained on GPS data from Chicago metropolitan area.

This paper studies the energy and traffic impact of a proposed Anticipative Cruise Controller in a PTV VISSIM microsimulation environment. We dissect our controller into two parts: 1. the anticipative mode, more immediately beneficial when automated vehicle fleet penetration is low, and 2. the connected mode, beneficial in coordinated car-following scenarios and high automated vehicle penetrations appropriate for autonomous vehicle specific applications. Probabilistic constraints handle safety considerations, and vehicle constraints for acceleration capabilities are expressed through the use of powertrain maps. Real traffic scenarios are then modeled using time headway distributions from traffic data. To study impact over a range of demands, we vary input vehicle volume from low to high and then vary automated vehicle penetration from low to high. When examining all-human driving scenarios, network capacity failed to meet demand in high-volume scenarios, such as rush-hour traffic. We further find that with automated vehicles introduced which utilize probabilistic constraints to balance safety and traffic compactness, network capacity was improved to support the high-volume scenarios. Finally, we examine energy efficiencies of the fleet for conventional, electric, and hybrid vehicles. We find that automated vehicles perform at a 10% - 20% higher energy efficiency over human drivers when considering conventional powertrains, and find that automated vehicles perform at a 3% - 9% higher energy efficiency over human drivers when considering electric and hybrid powertrains. Due to secondary effects of smoothing traffic flow, energy benefits also apply to human-driven vehicles that interact with automated ones. Such simulated humans were found to drive up to 10% more energy-efficiently than they did in the baseline all-human scenario., Comment: 18 pages, 12 figures

This paper analyzes the impact of providing car drivers with predictive information on traffic signal timing in real-time, including time-to-green and green-wave speed recommendations. Over a period of six months, the behavior of these 121 drivers in everyday urban driving was analyzed with and without access to live traffic signal information. In a first period, drivers had the information providing service disabled in order to establish a baseline behavior; after that initial phase, the service was activated. In both cases, data from smartphone and vehicle sensors was collected, including speed, acceleration, fuel rate, acceleration and brake pedal positions. We estimated the changes in the driving behavior which result from drivers' receiving the traffic signal timing information by carefully comparing distributions of acceleration/deceleration patterns through statistical analysis. Our analysis demonstrates that there is a positive effect of providing traffic signal information timing to the drivers.

Platooning allows vehicles to travel with small intervehicle distance in a coordinated fashion thanks to vehicle-to-vehicle connectivity. When applied at a larger scale, platooning will create significant opportunities for energy savings due to reduced aerodynamic drag, as well as increased road capacity and congestion reduction resulting from shorter vehicle headways. However, these potential savings are maximized if platooning-capable vehicles spend most of their travel time within platoons. Ad hoc platoon formation may not ensure a high rate of platoon driving. In this paper we consider the problem of central coordination of platooning-capable vehicles. By coordinating their routes and departure times, we can maximize the fuel savings afforded by platooning vehicles. The resulting problem is a combinatorial optimization problem that considers the platoon coordination and vehicle routing problems simultaneously. We demonstrate our methodology by evaluating the benefits of a coordinated solution and comparing it with the uncoordinated case when platoons form only in an ad hoc manner. We compare the coordinated and uncoordinated scenarios on a grid network with different assumptions about demand and the time vehicles are willing to wait.