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A data set gathered and maintained by NREL that tracks over 300 vehicles during the course of a 4-year period and how they behave in a workplace charging capacity. The data is further enriched by examining the effect of free charging versus paid charging. There is also a distinction in data marked by the onset of Covid-19. Vehicles are owned and operated by employees and range from smaller pack PHEV to larger pack BEVs.
Data and a supporting lightweight Python package that describes possible costs for enabling EV managed charging from 2025 to 2050 for three dispatch mechanisms: Time-of-Use (TOU), Real Time Pricing (RTP), and direct load control (DLC) and four flexibility scenarios (Flat and Low, Mid, and High Flex).
This presentation presents a brief overview of the collection of information about the US government's fleet of motor vehicles using the Federal Automotive Statistical Tool (FAST), discusses the makeup and operation of the vehicle fleet during FY 2022 and discusses quality of the submitted data. FAST is a web-based information system sponsored by GSA's Office of Government-wide Policy and DOE's Federal Energy Management Program to collect information about the US federal government's fleet of motor vehicles; FAST is developed, maintained, and supported by DOE's Idaho National Laboratory (INL).
Smart corridor digital twins are often created for the development and evaluation of emerging intelligent transportation systems and Connected and Autonomous Vehicle (CAV) technologies. However, limited guidance exists for data quality assessment for digital twin development. To address this, this paper discusses the data quality assessment utilized to develop data-driven real-time microscopic simulation models, i.e., digital twins, for two separate smart corridors: the North Avenue Smart Corridor in Atlanta, GA, and the Martin Luther King Smart Corridor in Chattanooga, Tennessee. This paper provides a summary of the author’s investigations of data requirements and data characteristics for the given smart corridor digital twin development efforts. With a focus on data, this summary includes a description of the data investigation process, key data issues observed, and strategies to address observed issues. Discussion is provided to help expand the lessons from these studies to other digital twin development efforts.
This work develops and implements an NMPC control system to facilitate fuel-optimal platooning of Class 8 vehicles over challenging terrain. Prior research has shown that Cooperative Adaptive Cruise Control (CACC), which allows multiple Class 8 vehicles to follow in close succession, can save between 3 and 8% in overall fuel consumption on flat terrain. However, on more challenging terrain, e.g. rolling hills, platooning vehicles can experience diminished fuel savings, and, in some cases, an increase in fuel consumption relative to individual vehicle operation. This research explores the use of Nonlinear Model Predictive Control (NMPC) with predefined route grade profiles to allow platooning vehicles to generate an optimal velocity trajectory with respect to fuel consumption. In order to successfully implement the NMPC system, a model relating vehicle velocity to fuel consumption was generated and validated using experimental data. Additionally, the predefined route grade profiles were created by using the vehicle's GPS velocity over the desired terrain. The real-time NMPC system was then implemented on a two-truck platoon operating over challenging terrain, with a reference vehicle running individually. The results from NMPC platooning are compared against fuel results from a classical proportional-integral-derivative (PID) headway control method. Furthermore, this comparison yields the comparative fuel savings and energy efficiency benefit of NMPC system. In the final analysis, significant fuel savings of greater than 14 and 20% were seen for the lead and following vehicles relative to their respective traditional cruise control and platooning architectures.
This presentation presents an overview of coming changes to how federal agencies with motor vehicles will submit required information about the motor vehicles, fueling centers, and electric vehicle supply equipment (EVSE) inventory through the Federal Automotive Statistical Tool (FAST). The presentation provides information on changes throughout the FAST system as well as changes planned for implementation later this fall. This presentation is intended for delivery via WebEx/GoToMeeting at the September 15, 2021 meeting of the DOE-sponsored INTERFUEL working group. FAST is a web-based information management tool developed by INL and funded by GSA's Office of Government-wide Policy and DOE's Federal Energy Management Program.
This presentation presents an overview of and timeline for coming changes to how federal agencies with motor vehicles will submit required information about the motor vehicles, fueling centers, and electric vehicle supply equipment (EVSE) inventory through the Federal Automotive Statistical Tool (FAST). The presentation provides information on changes throughout the FAST system as well as changes planned for implementation in FY 2023 and later. This presentation is intended for delivery via WebEx/GoToMeeting at the September 14, 2022 meeting of the DOE-sponsored INTERFUEL working group. FAST is a web-based information management tool developed and maintained by Idaho National Laboratory and funded by GSA's Office of Government-wide Policy and DOE's Federal Energy Management Program.
This presentation presents an overview of coming changes to how federal agencies with motor vehicles will submit required information about fueling centers and electric vehicle supply equipment (EVSE) inventory through the Federal Automotive Statistical Tool (FAST). The presentation provides background on the process, a re-cap of how the information is currently submitted, and describes the new approach for organizations to submit the required information this year. This presentation is intended for delivery via WebEx/GoToMeeting at the August 11, 2021 meeting of the DOE-sponsored INTERFUEL working group. FAST is a web-based information management tool developed by INL and funded by GSA's Office of Government-wide Policy and DOE's Federal Energy Management Program.
This paper focuses on the development of a miniaturized mobile mapping platform with advantages over current agricultural phenotyping systems in terms of acquiring data that facilitate under-canopy plant trait extraction. The system is based on an unmanned ground vehicle (UGV) for in-row, under-canopy data acquisition to deliver accurately georeferenced 2D and 3D products. The paper addresses three main aspects pertaining to the UGV development: (a) architecture of the UGV mobile mapping system (MMS), (b) quality assessment of acquired data in terms of georeferencing information as well as derived 3D point cloud, and (c) ability to derive phenotypic plant traits using data acquired by the UGV MMS. The experimental results from this study demonstrate the ability of the UGV MMS to acquire dense and accurate data over agricultural fields that would facilitate highly accurate plant phenotyping (better than above-canopy platforms such as unmanned aerial systems and high-clearance tractors). Plant centers and plant count with an accuracy in the 90% range have been achieved.
The goal of this project was to utilize individual vehicle and systems-level transportation big data to develop real-world implementable techniques for energy efficiency. We collected a real world dataset in Fort Collins, CO using technology that is currently available. This dataset was used to (1) create individual vehicle prediction models and emissions models using cutting-edge artificial intelligence (AI) techniques, (2) create traffic prediction models, (3) create boundary condition constraints for optimal trajectory derivation, and (4) develop a novel Mobility Energy Productivity (MEP) model for Fort Collins, CO at a fidelity and flexibility which did not previously exist. Each of these techniques is novel but the most interesting results occurred from the intersection of all techniques. It was found that when optimal vehicle control is combined with optimal traffic light control, that significant energy efficiency improvements that do not compromise travel time are available.
Commercial trucks are essential elements of the nation's supply chain system. Meanwhile, intensive truck movements contribute significantly to system externalities, such as energy use and air pollution. However, collecting detailed fleet composition and distribution of operational patterns remains a barrier to accurately accounting for these impacts. The recently released 2021 US Vehicle Inventory and Use Survey (US VIUS) fills a critical gap in understanding commercial truck fleet distributions, their operations, and business constraints at the national scale. This study aims to understand the latest US commercial vehicle fleet composition and operational characteristics using 2021 US VIUS data and calibrate the fleet inputs in regulatory emission models to assess the potential emission implications of the VIUS-derived fleet composition. The emission rates for commercial trucks and default fleet composition are collected from the U.S. EPA's MOtor Vehicle Emission Simulator (MOVES4). The 2021 US VIUS data is applied to improve fleet characteristics such as the long-haul fraction and the vehicle mileage accumulation rate. The study also investigates potential emission reduction benefits under various forecasted fleet electrification scenarios. The energy consumption and critical air pollutant rates by vehicle types are compared between MOVES4 and US VIUS fleets for both current and future scenarios to provide insights into the latest U.S. commercial vehicle fleet characteristics and their implications on energy and emissions. This study helps policymakers and practitioners advance the commercial fleet generation for emission models. It also deepens the understanding of the emission reduction potential of the commercial fleet under various fleet projections.
This manuscript focused on analyzing electric vehicles’ (EV) charging behavior patterns with a functional data analysis (FDA) approach, with the goal of providing theoretical support to the EV infrastructure planning and regulation, as well as the power grid load management. 5-year real-world charging log data from a total of 455 charging stations in Kansas City, Missouri, was used. The focuses were placed on analyzing the daily usage occupancy variability, daily energy consumption variability, and station-level usage variability. Compared with the traditional discrete-based analysis models, the proposed FDA modeling approach had unique advantages in preserving the smooth function behavior of the data, bringing more flexibility in the modeling process with little required assumptions or background knowledge on independent variables, as well as the capability of handling time series data with different lengths or sizes. In addition to the patterns revealed in the EV charging station’s occupancy and energy consumption, the differences between EV driver’s charging time and parking time were analyzed and called for the needs for parking regulation and enforcement. The different usage patterns observed at charging stations located on different land-use types were also analyzed.
Safe autonomous vehicle (AV) operations depend on an accurate perception of the driving environment, which necessitates the use of a variety of sensors. Computational algorithms must then process all of this sensor data, which typically results in a high on-vehicle computational load. For example, existing lane markings are designed for human drivers, can fade over time, and can be contradictory in construction zones, which require specialized sensing and computational processing in an AV. But, this standard process can be avoided if the lane information is simply transmitted directly to the AV. High definition maps and road side units (RSUs) can be used for direct data transmission to the AV, but can be prohibitively expensive to establish and maintain. Additionally, to ensure robust and safe AV operations, more redundancy is beneficial. A cost-effective and passive solution is essential to address this need effectively. In this research, we propose a new infrastructure information source (IIS), chip-enabled raised pavement markers (CERPMs), which provide environmental data to the AV while also decreasing the AV compute load and the associated increase in vehicle energy use. CERPMs are installed in place of traditional ubiquitous raised pavement markers along road lane lines to transmit geospatial information along with the speed limit using long range wide area network (LoRaWAN) protocol directly to nearby vehicles. This information is then compared to the Mobileye commercial off-the-shelf traditional system that uses computer vision processing of lane markings. Our perception subsystem processes the raw data from both CEPRMs and Mobileye to generate a viable path required for a lane centering (LC) application. To evaluate the detection performance of both systems, we consider three test routes with varying conditions. Our results show that the Mobileye system failed to detect lane markings when the road curvature exceeded ±0.016 m -1 . For the steep curvature test scenario, it could only detect lane markings on both sides of the road for just 6.7% of the given test route. On the other hand, the CERPMs transmit the programmed geospatial information to the perception subsystem on the vehicle to generate a reference trajectory required for vehicle control. The CERPMs successfully generated the reference trajectory for vehicle control in all test scenarios. Moreover, the CERPMs can be detected up to 340 m from the vehicle’s position. Our overall conclusion is that CERPM technology is viable and that it has the potential to address the operational robustness and energy efficiency concerns plaguing the current generation of AVs.
This work introduces a multi-camera tracking dataset consisting of 234 hours of video data recorded concurrently from 234 overlapping HD cameras covering a 4.2 mile stretch of 8-10 lane interstate highway near Nashville, TN. Video is recorded in cooperation with Tennessee State Department of Transportation and its policies. The video is recorded during a period of high traffic density with 500+ objects typically visible within the scene and typical object longevities of 3-15 minutes. GPS trajectories from 270 vehicle passes through the scene are manually corrected in the video data to provide a set of ground-truth trajectories for recall-oriented tracking metrics, and object detections are provided for each camera in the scene (159 million total before cross-camera fusion). Initial benchmarking of tracking-by-detection algorithms is performed against the GPS trajectories, and a best HOTA of only 9.5% is obtained (best recall 75.9% at IOU 0.1, 47.9 average IDs per ground truth object), indicating the benchmarked trackers do not perform sufficiently well at the long temporal and spatial durations required for traffic scene understanding. Video data, scene information, and vehicle trajectories are made publicly available at i24motion.org.
As new loads such as rooftop photovoltaics, electric vehicles and other distributed energy resources become commonplace on the distribution grid, the stress on already aging assets begins to escalate. This increased loading and changing dynamics can exacerbate failure rates. While traditional monitoring efforts focus on transmission and generation assets, utilities are now beginning to pay close attention to distribution assets in order to increase reliability indices and reduce cost from unexpected outages. This research develops low-cost and scalable methods to monitoring the health of a critical distribution grid asset: the service transformer. Existing methods in literature are either invasive and thus difficult to implement or require the device to be tested offline in an expensive lab setting. Data from the ubiquitous smart meter as well as a novel Bluetooth based transformer monitor are leveraged to automatically notify the utility of deteriorating or damaged transformers. Voltage, temperature, and vibration are some of the signals measured and analyzed by the proposed algorithms to predict transformer failures. Furthermore, these algorithms are designed to keep the implementation and processing costs low by taking advantage of edge computing where possible.
The past decade has witnessed a remarkable surge in adoption of electric vehicles (EVs). The momentum is expected to continue with strong support from governments and industry. Rapid EV adoption will add significant electricity demand, making it critical to plan for and manage EV charging to avoid causing additional stress and non-negligible risks to the already-aging power grid. To help power grid operators understand the impacts of residential EV charging and identify risk factors, this study presents a data-driven charging demand analysis for light-duty vehicles. This study considers two real-world grid service regions in Colorado and merges multiple data sources and state-of-the-art tools that characterize EV adoption projections, vehicle travel patterns, seasonal variations, residential charging accessibility, ambient temperature impact, EV charging behaviors, grid utility customers, vehicle registration, and household-level EV charging demand distribution. We characterize potential residential charging demand in 2030 for two regions within the state of Colorado: Boulder and Aurora regions. We project that EVs will be 26% of the light-duty vehicle population in Boulder and 16% in Aurora areas. Charging demand is characterized for ten power grid feeders (five for each study region). Across the ten feeders, peak total EV charging powers during wintertime range from less than 1 MW to more than 4 MW.
Conventional physics-based modeling is a time-consuming bottleneck in control design for complex nonlinear systems like autonomous underwater vehicles (AUVs). In contrast, purely data-driven models, require a large number of observations and lack operational guarantees for safety-critical systems. Data-driven models leveraging available partially characterized dynamics have potential to provide reliable systems models in a typical data-limited scenario for high value complex systems, thereby avoiding months of expensive expert modeling time. In this work we explore this middle-ground between expert-modeled and pure data-driven modeling. We present control-oriented parametric models with varying levels of domain-awareness that exploit known system structure and prior physics knowledge to create constrained deep neural dynamical system models. We employ universal differential equations to construct data-driven blackbox and graybox representations of the AUV dynamics. In addition, we explore a hybrid formulation that explicitly models the residual error related to imperfect graybox models. We compare the prediction performance of the learned models for different distributions of initial conditions and control inputs to assess their suitability for control.
This paper presents a comprehensive analysis of the impact of adaptive cruise control on energy consumption in real-world driving conditions based on a natural experiment: a large-scale observational dataset of driving data from a diverse fleet of vehicles and drivers. The analysis is conducted at two different fidelity levels: (1) a macroscopic trip-level benefit estimate that compares trips with and without cruise control in a counterfactual way using statistical methods, and (2) a situation-based comparison achieved through the segmentation of trips into distinct driving situations such as acceleration, braking, cruising, and other maneuvers. The results of this research show that the effect of cruise control on energy consumption varies across different driving situations and levels of analysis. In a macroscopic trip-level analysis, cruise control engagement is associated with a slight increase in fuel consumption across the fleet. As revealed later by the situation-based analysis, this result can be attributed to the negative impact of cruise control on energy consumption in cruising mode, which is the most common driving situation. However, the situation-based comparison demonstrates that cruise control can provide fuel consumption benefits in situations involving acceleration and braking, particularly when a preceding vehicle is present. The study also emphasizes the importance of controlling for various factors that can influence both fuel consumption and the likelihood of cruise control engagement to properly evaluate its effects.