TY - GEN
T1 - MPC-based speed tracking for automated urban buses performing V2I communications with traffic lights
AU - Matute, Jose A.
AU - Vaca-Recalde, Myriam
AU - Perez, Joshue
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - Research on Intelligent Transportation Systems (ITS) is continuously achieving a great degree of maturity for Cooperative and Connected Automated Mobility (CCAM) technology in vehicles. It includes embedded functionalities and the interaction with the environment. Therefore, this interaction should include the traffic lights information. It is a key element for the future implementation of CCAM in urban and interurban scenarios. In this paper, a Model Predictive Control (MPC) approach for an optimal speed behavior of an automated urban bus is presented. The traffic light information through V2I communication is used to achieve safe and comfortable behavior in the real condition demonstrator using thresholds for driving constraints in the MPC controller. Results show a good performance of our approach, validated in the city of Malaga during one month of testing a twelve-meter bus, connected with the infrastructure, in the framework of the CCAM Projects.
AB - Research on Intelligent Transportation Systems (ITS) is continuously achieving a great degree of maturity for Cooperative and Connected Automated Mobility (CCAM) technology in vehicles. It includes embedded functionalities and the interaction with the environment. Therefore, this interaction should include the traffic lights information. It is a key element for the future implementation of CCAM in urban and interurban scenarios. In this paper, a Model Predictive Control (MPC) approach for an optimal speed behavior of an automated urban bus is presented. The traffic light information through V2I communication is used to achieve safe and comfortable behavior in the real condition demonstrator using thresholds for driving constraints in the MPC controller. Results show a good performance of our approach, validated in the city of Malaga during one month of testing a twelve-meter bus, connected with the infrastructure, in the framework of the CCAM Projects.
UR - http://www.scopus.com/inward/record.url?scp=85125814670&partnerID=8YFLogxK
U2 - 10.1109/DSD53832.2021.00067
DO - 10.1109/DSD53832.2021.00067
M3 - Conference contribution
AN - SCOPUS:85125814670
T3 - Proceedings - 2021 24th Euromicro Conference on Digital System Design, DSD 2021
SP - 396
EP - 401
BT - Proceedings - 2021 24th Euromicro Conference on Digital System Design, DSD 2021
A2 - Leporati, Francesco
A2 - Vitabile, Salvatore
A2 - Skavhaug, Amund
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 24th Euromicro Conference on Digital System Design, DSD 2021
Y2 - 1 September 2021 through 3 September 2021
ER -
