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Hierarchical MPC for intelligent vehicle-highway systems

We present an integrated traffic management and control approach for Intelligent Vehicle Highway Systems (IVHS).

These IVHS consist of interacting roadside controllers and intelligent vehicles that are organized in platoons with short intra-platoon distances, and larger distances between platoons. All vehicles are assumed to be fully automated, i.e., throttle, braking, and steering commands are determined by an automated on-board controller. The proposed control approach is based on a hierarchical traffic management and control architecture for IVHS, and it also takes the connection and transition between the non-automated part of the road network and the IVHS into account. The proposed hierarchical architecture provides a scalable approach where at different levels of the hierarchy different temporal and spatial scales are taken into account.

We detail how model predictive control (MPC) can be used at several levels of the control hierarchy, in particular, for the roadside controllers, the area controllers, and the regional controllers. The roadside controllers determine optimal speed limits and lane allocations as well as optimal release times for the platoons at the on-ramps. The area controllers provide area-wide dynamic route guidance for the platoons, while the regional controllers determine appropriate flows between areas.

For each hierarchy we discuss appropriate models and the different optimization approaches that can be used. In particular, we show that for the area and regional controller, one can recast the MPC optimization problem into a mixed-integer linear problem.
Type of Seminar:
Optimization and Applications Seminar
Prof. Bart De Schutter
TU Delft, The Netherlands
Nov 01, 2010   16:30-18:00

ETHZ Rämistrasse 101, HG G 19.2
Contact Person:

Prof. John Lygeros
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Biographical Sketch:
Bart De Schutter received the degree in electrotechnical-mechanical engineering in 1991 and the doctoral degree in Applied Sciences (summa cum laude with congratulations of the examination jury) in 1996, both at the K.U.Leuven, Belgium. After obtaining his PhD degree, he was a senior research assistant of the FWO-Flanders at the ESAT-SISTA research group of the K.U.Leuven. In 1998 he transferred to the Control Systems Engineering group of the Faculty of Information Technology and Systems of Delft University of Technology, The Netherlands. In 2003 the control groups of Delft University of Technology merged into the Delft Center for Systems and Control DCSC). Currently, Bart De Schutter is a full professor at Delft Center for Systems and Control (DCSC) department of Delft University of Technology. Bart De Schutter was awarded the 1998 SIAM Richard C. DiPrima Prize and the 1999 K.U.Leuven Robert Stock Prize for his PhD thesis. He is associate editor of Automatica and of the IEEE Transactions on Intelligent Transportation Systems. He is also coordinator of the European FP7 STREP project Hierarchical and distributed model predictive control of large-scale complex systems (HD-MPC).