Mitsubishi Electric Research Laboratories, Inc.

Mitsubishi Electric Corporation

Heejin Ahn

Philip Orlik

Stefano Di Cairano

Jianlin Guo

Kyeong Jin Kim

Karl Berntorp

Yebin Wang

Ankush Chakrabarty

Claus Danielson

Fei Ye

Yehan Ma

Gilsoo Lee

A traffic control system for controlling traffic at interconnected intersections is provided, where the system comprises a receiver that receives traffic data that indicates states of vehicles approaching an intersection of the interconnected intersections and directions of the vehicles exiting the intersection. Further, the system comprises a processor that determines intersection crossing times and velocities of vehicles approaching the intersection by minimizing at least one of a total travel time or a maximum travel time of the vehicles for crossing the intersection. The contribution of each vehicle of the vehicles approaching the intersection in the at least one of a total travel time or a maximum travel time is weighted based on directions of the vehicles and traffic at next intersection. Further, the system comprises a transmitter that transmits the intersection crossing times and velocities to the vehicles exiting the intersection for controlling the traffic at the interconnected intersections.

Adaptive control of vehicular traffic

A system jointly controls vehicles according to traffic configuration of a zone of intersection of a first road and a second road. The intersection zone includes a sequencing zone and a control zone covering sections of the first and the second road in proximity to the intersection. The system groups vehicles traveling within the sequencing zone on the first and the second roads into a set of groups of the vehicles and prevents the vehicles of different groups to travel concurrently in the control zone such that the first vehicle of the following group cannot pass the last vehicle of the preceding group. The system determines motion trajectories for the vehicles of the same group traveling in the control zone on the first and the second roads to pass the intersection and transmits the motion trajectories to the corresponding vehicles.

Joint control of vehicles traveling on different intersecting roads

A receding horizon state estimator estimates state of a vehicle such as to reduce total communication cost of acquiring external measurements over a prediction horizon, in which state estimation accuracy for a time step is a function of state estimation accuracy for a previous time step. For each time step of the prediction horizon, estimator selects a subset of external sensors with external measurements sufficient to estimate the state with accuracy satisfying the constraint on state estimation accuracy for the corresponding time step while reducing a total communication cost of acquiring the external measurements over the prediction horizon. The estimator requests the external measurements from the subset of external sensors determined for a current time step and estimates the state of the vehicle using the internal and the requested external measurements.

Receding horizon state estimator

A networked control system for controlling at least one plant includes a receiver configured to receive a feedback signal indicative of a current state of a controlled variable of a plant over a wireless link and a controller configured to determine a control command based on a control error between a reference state of the controlled variable and the current state of the control variable. The system also includes a processor configured to determine, based on a function of the control error, a number of transmission times a packet with the control command needs to be transmitted over the wireless link, and a transmitter configured to transmit the packet over the wireless link the number of transmission times.

Network adapted control system

Controlling a vehicle by producing a sequence of intermediate goals that includes specific goals, additional specific goals and optional goals, from a travel route for a prediction horizon. Testing a feasibility of each intermediate goal (IG), using a first model of motion of the vehicle and a first model of motion of the traffic, by the IG being achieved by satisfying traffic conditions and motion capabilities of the vehicle, after achieving the IG, a next goal of the specific goals and the additional specific goals can also be achieved. Compute a trajectory for each feasible IG, using a second model of motion of the vehicle and a second model of motion of the traffic, and compare each computed trajectory according to a numerical value determined by a cost function and determine satisfaction of constraints on the movement of the vehicle and the vehicle interaction with the road and the traffic.

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Cambridge, MA, United States of America

Heejin Ahn