Robust Optimal ECO-driving Control with Uncertain Traffic Signal Timing

Abstract: 

This paper proposes a robust optimal eco-driving control strategy considering multiple signalized intersections with uncertain traffic signal timing. A spatial vehicle velocity profile optimization formulation is developed to minimize the global fuel consumption, with driving time as one state variable. We introduce the concept of `effective red-light duration' (ERD), formulated as a random variable, to describe the feasible passing time through signalized intersections. A chance constraint is appended to the optimal control problem to incorporate robustness with respect to uncertain signal timing. The optimal eco-driving control problem is solved via dynamic programming (DP). Simulation results demonstrate that the optimal eco-driving can save fuel consumption by 50-57 % while maintaining arrival time at the same level, compared with a modified intelligent driver model as the benchmark. The robust formulation significantly reduces traffic intersection violations, in the face of uncertain signal timing, with small sacrifice on fuel economy compared to a non-robust approach.

Author: 
Sun, Chao
Shen, Xinwei
Moura, Scott
Publication date: 
June 1, 2018
Publication type: 
Conference Paper
Citation: 
Sun, C., Shen, X., & Moura, S. (2018). Robust Optimal ECO-driving Control with Uncertain Traffic Signal Timing. 2018 Annual American Control Conference (ACC), 5548–5553. https://doi.org/10.23919/ACC.2018.8430781