PATH

A Specification Of An Automated Freeway With Vehicle-Borne Intelligence

Hitchcock, Anthony
1992

The focus of this work is to derive a technique of safety analysis for an automated freeway system. To demonstrate the method of safety analysis a procedure called fault tree analysis is applied. The specified freeway operates with vehicles in platoons. The safety criterion used here is that two or more simultaneous faults must occur independently before the hazards can arise.

A Machine Vision Based System for Guiding Lane-Change Maneuvers

Malik, Jitendra
Koller, Dieter
Luong, Tuan
1995

We propose a new approach for vision based longitudinal and lateral ve-hicle control which makes extensive use of binocular stereopsis. Longitudi-nal control - i.e. maintaining a safe, constant distance from the vehicle infront - is supported by detecting and measuring the distances to leadingvehicles using binocular stereo.A known camera geometry with respect tothe locally planar road is used to map the images of the road plane in thetwo camera views into alignment.Any significant residual image disparitythen indicates an object not lying in the road plane and hence a potentialobstacle....

Using Cooperative Adaptive Cruise Control (CACC) to Form High-Performance Vehicle Streams: Simulation Results Analysis

Liu, Hao
Kan, Xingan (David)
Shladover, Steven E.
Lu, Xiao-Yun
2018

This document contains detailed simulation results analysis and discussion for the Federal Highway Administration (FHWA) Exploratory Advanced Research (EAR) project entitled Using Cooperative Adaptive Cruise Control (CACC) to Form High-Performance Vehicle Streams. The objective of this study is to obtain authoritative predictions of traffic impacts of ACC and CACC at various market penetrations and define the CACC operation strategies that create the most capacity and throughput improvement in the freeway traffic stream. A microscopic traffic simulation environment has been developed for...

Smart Parking Management Field Test: A Bay Area Rapid Transit (BART) District Parking Demonstration: Final Report

Rodier, Caroline J., PhD
Shaheen, Susan A., PhD
Kemmerer, Charlene
2008

This report presents an evaluation of the first transit-based smart parking project in the U.S. at the San Francisco Bay Area Rapid Transit (BART) District station in Oakland, California. The report begins with a review of the smart parking literature; next the smart parking field test is described including its capital, operational, and maintenance costs; then the results of the participant survey analysis are presented; and finally lessons learned from the institutional, user, and operational perspective are documented. Some key changes in participant travel behavior include increases in...

A Stochastic Approach to the Convex Optimization of Non-Convex Discrete Energy Systems

Burger, Eric M.
Moura, Scott J.
2017

Energy systems (e.g. ventilation fans, refrigerators, and electrical vehicle chargers) often have binary or discrete states due to hardware limitations and efficiency characteristics. Typically, such systems have additional programmatic constraints, such as minimum dwell times to prevent short cycling. As a result, non-convex techniques, like dynamic programming, are generally required for optimization. Recognizing developments in the field of distributed convex optimization and the potential for energy systems to participate in ancillary power system services, it is advantageous to...

ARX Model of a Residential Heating System With Backpropagation Parameter Estimation Algorithm

Burger, Eric M.
Moura, Scott J.
2017

Model predictive control (MPC) strategies hold great potential for improving the performance and energy efficiency of building heating, ventilation, and air-conditioning (HVAC) systems. A challenge in the deployment of such predictive thermo-static control systems is the need to learn accurate models for the thermal characteristics of individual buildings. This necessitates the development of online and data-driven methods for system identification. In this paper, we propose an autoregressive with exogenous terms (ARX) model of a thermal zone within a building. To learn the model, we...

State Estimation for an Electrochemical Model of Multiple-Material Lithium-Ion Batteries

Camacho-Solorio, Leobardo
Krstic, Miroslav
Klein, Reinhardt
Mirtabatabaei, Anahita
Moura, Scott
2017

This paper presents state estimation for a system of diffusion equations coupled in the boundary appearing in reduced electrochemical models of lithium-ion batteries with multiple active materials in single electrodes. The observer is synthesized from a single particle model and is based on the backstepping method for partial differential equations. The observer is suitable for state of charge estimation in battery management systems and is an extension of existing backstepping observers which were derived only for cells with electrodes of single active materials. Observer gains still can...

Observer Design for Boundary Coupled PDEs: Application to Thermostatically Controlled Loads in Smart Grids

Moura, Scott
Bendtsen, Jan
Ruiz, Victor
2013

This paper develops methods for state estimation of aggregated thermostatically controlled loads (TCLs) in smart grids, via partial differential equation (PDE) techniques. TCLs include on/off controlled devices, such as heat pumps, HVAC systems, and deep freezers. Control of aggregated TCLs provides a promising opportunity to mitigate the mismatch between power generation and demand, thus enhancing grid reliability and enabling renewable energy penetration. However, persistent communication between thousands of TCLs to a central server can be prohibitive. To this end, this paper focuses on...

Analytic Modeling and Integral Control of Heterogeneous Thermostatically Controlled Load Populations

Ghaffari, Azad
Moura, Scott
Krstic, Miroslav
2014

Thermostatically controlled loads (TCLs) account for approximately 50% of U.S. electricity consumption. Various techniques have been developed to model TCL populations. A High-fidelity analytical model of heterogeneous TCL populations facilitates the aggregate synthesis of power control in power networks. Such a model assists the utility manager to increase the stability margin of the network. The model, also, assists the customer to schedule his/her tasks in order to reduce his/her energy cost. We present a deterministic hybrid partial differential equation (PDE) model which accounts for...

Empirical Regret Bounds for Control in Spatiotemporally Varying Environments: A Case Study in Airborne Wind Energy

Haydon, Ben
Cole, Jack
Dunn, Laurel
Keyantuo, Patrick
Chow, Tina
Moura, Scott
Vermillion, Chris
2019

Abstract. This paper focuses on the empirical derivation of regret bounds for mobile systems that can vary their locations within a spatiotemporally varying environment in order to maximize performance. In particular, the paper focuses on an airborne wind energy system, where the replacement of towers with tethers and a lifting body allows the system to adjust its altitude continuously, with the goal of operating at the altitude that maximizes net power production. While prior publications have proposed control strategies for this problem, often with favorable results based on simulations...