Do commercial vehicles cruise for parking? Empirical evidence from Seattle
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33 ADVANCED PROPULSION SYSTEMS↗
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Results for “Advanced Propulsion”
Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.
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A two-stage stochastic optimization model for scheduling electric vehicle charging loads to relieve distribution-system constraints
Electric vehicles (EVs) hold promise to improve the energy efficiency and environmental impacts of transportation. However, widespread EV use can impose significant stress on electricity-distribution systems due to their added charging loads. This paper proposes a centralized EV charging-control model, which schedules the charging of EVs that have flexibility. This flexibility stems from EVs that are parked at the charging station for a longer duration of time than is needed to fully recharge the battery. The model is formulated as a two-stage stochastic optimization problem. The model captures the use of distributed energy resources and uncertainties around EV arrival times and charging demands upon arrival, non-EV loads on the distribution system, energy prices, and availability of energy from the distributed energy resources. We use a Monte Carlo-based sample-average approximation technique and an L-shaped method to solve the resulting optimization problem efficiently. We also apply a sequential sampling technique to dynamically determine the optimal size of the randomly sampled scenario tree to give a solution with a desired quality at minimal computational cost. Here, we demonstrate the use of our model on a Central-Ohio-based case study. We show the benefits of the model in reducing charging costs, negative impacts on the distribution system, and unserved EV-charging demand compared to simpler heuristics. Lastly, we also conduct sensitivity analyses, to show how the model performs and the resulting costs and load profiles when the design of the station or EV-usage parameters are changed.
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Optimal assignment for the single-household shared autonomous vehicle problem
Autonomous vehicles have the potential to transform the way people are transported. While driverless technology may mean fewer vehicles are required to transport people to and from their daily activities, such changes may result in increased congestion or total miles traveled. In this study, we solve the single-household shared autonomous vehicle problem to identify cost-optimal routings of vehicles throughout the day. Such a tool will be useful for consumers seeking to minimize cost and for regulators seeking to understand and predict how people may behave in different scenarios. Here, we provide a thorough literature review and construct a mixed-integer linear program to minimize the daily travel cost of a household attending a given set of activities. Since solution time is a determinant for applicability of such a model, we present the model in a component-wise fashion. This approach allows us to understand which features most affect the problem complexity and solution time. We note that modeling carpooling is the feature that most increases time to find an optimal solution, and we therefore propose a novel modeling technique for carpooling two people. We illustrate the performance of our model by comparing it with other models from the literature and note that our model can solve significantly larger problem instances and in a time that is short enough to facilitate real-time scheduling. We also highlight the utility of our model for regulators, who can use it to analyze quickly produced optimal routes under different cost/tax scenarios.
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Robust cooperative control strategy for a platoon of connected and autonomous vehicles against sensor errors and control errors simultaneously in a real-world driving environment
In a real-world driving environment, a platoon of connected and autonomous vehicles (CAVs) is subject to many internal and external disturbances, resulting in uncertain vehicle dynamics. In general, the disturbances can be categorized into two types: disturbances due to vehicle sensor errors (e.g., GPS error) and disturbances due to vehicle control errors (e.g., actuator delay). In the literature, many control strategies have been proposed to improve the robustness of the CAV platoon against uncertain vehicle dynamics induced by these disturbances. However, most of these strategies only consider one type of disturbance and cannot tackle both types of disturbances simultaneously. Furthermore, they are designed to maximize the benefits of each vehicle in the platoon independently, which can deteriorate the performance of the platoon. Here, to address these problems, this study proposes a robust cooperative control (RCC) strategy to maneuver the vehicles in the platoon cooperatively to counteract the impacts of both types of disturbances. The RCC strategy is developed based on a minimax problem, where the maximization subproblem seeks to find the worst inputs for the uncertainty terms in the vehicle dynamics equation to minimize the platoon performance, while the minimization subproblem seeks to find the optimal control decisions for all subsequent vehicles to maximize the platoon performance in the worst case. To solve the minimax problem, this study proposes a globally convergent solution algorithm. It can solve the minimax problem very efficiently to enable real time deployment of the RCC strategy. Numerical application indicates that compared to the existing methods, the RCC strategy can dramatically improve the robustness of the CAV platoon against the uncertain vehicle dynamics induced by both vehicle state detection errors and vehicle control errors. Therefore, it can maneuver the CAV platoon safely and efficiently in a real-world driving environment.
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Analysis of plug-in hybrid electric vehicles' utility factors using GPS-based longitudinal travel data
The benefit of using a PHEV comes from its ability to substitute gasoline with electricity in operation. Defined as the proportion of distance traveled in the electric mode, the utility factor (UF) depends mostly on the battery capacity, but also on many other factors, such as travel pattern and recharging pattern. Conventionally, the UFs are calculated based on the daily vehicle miles traveled (DVMT) by assuming motorists leave home in the morning with a full battery, and no charge occurs before returning home in the evening. Such an assumption, however, ignores the impact of the heterogeneity in both travel and charging behavior, such as going back home more than once in a day, the impact of available charging time, and the price of gasoline. In addition, the conventional UFs are based on the National Household Travel Survey (NHTS) data, which are one-day travel data of each sample vehicle. A motorist's daily distance variation is ignored. This paper employs the GPS-based longitudinal travel data (covering 3-18 months) collected from 403 vehicles in the Seattle metropolitan area to investigate how such travel and charging behavior affects UFs. To do this, for each vehicle, we organized trips to a series of home and work related tours. The UFs based on the DVMT are found close to those based on home-to-home tours. However, it is seen that the workplace charge opportunities significantly increase UFs if the CD range is no more than 40 miles.
29 ENERGY PLANNING, POLICY, AND ECONOMY↗
Robust planning of dynamic wireless charging infrastructure for battery electric buses
Battery electric buses with zero tailpipe emissions have great potential in improving environmental sustainability and livability of urban areas. However, the problems of high cost and limited range associated with on-board batteries have substantially limited the popularity of battery electric buses. The technology of dynamic wireless power transfer (DWPT), which provides bus operators with the ability to charge buses while in motion, may be able to effectively alleviate the drawbacks of electric buses. In this paper, we address the problem of simultaneously selecting the optimal location of the DWPT facilities and designing the optimal battery sizes of electric buses for a DWPT electric bus system. The problem is first constructed as a deterministic model in which the uncertainty of energy consumption and travel time of electric buses is neglected. The methodology of robust optimization (RO) is then adopted to address the uncertainty of energy consumption and travel time. The affinely adjustable robust counterpart (AARC) of the deterministic model is developed, and its equivalent tractable mathematical programming is derived. Both the deterministic model and the robust model are demonstrated with a real-world bus system. The results of our study demonstrate that the proposed deterministic model can effectively determine the allocation of DWPT facilities and the battery sizes of electric buses for a DWPT electric bus system; and the robust model can further provide optimal designs that are robust against the uncertainty of energy consumption and travel time for electric buses.
25 ENERGY STORAGE↗
Data-driven fuel consumption estimation: A multivariate adaptive regression spline approach
Providing guidance and information to drivers to help them make fuel-efficient route choices remains an important and effective strategy in the near term to reduce fuel consumption from the transportation sector. One key component in implementing this strategy is a fuel-consumption estimation model. In this paper, we developed a mesoscopic fuel consumption estimation model that can be implemented into an eco-routing system. Our proposed model presents a framework that utilizes large-scale, real-world driving data, clusters road links by free-flow speed and fits one statistical model for each of cluster. This model includes predicting variables that were rarely or never considered before, such as free-flow speed and number of lanes. We applied the model to a real-world driving data set based on a global positioning system travel survey in the Philadelphia-Camden-Trenton metropolitan area. Results from the statistical analyses indicate that the independent variables we chose influence the fuel consumption rates of vehicles. But the magnitude and direction of the influences are dependent on the type of road links, specifically free-flow speeds of links. Here, a statistical diagnostic is conducted to ensure the validity of the models and results. Although the real-world driving data we used to develop statistical relationships are specific to one region, the framework we developed can be easily adjusted and used to explore the fuel consumption relationship in other regions.
30 DIRECT ENERGY CONVERSION↗
Coordinated platooning with multiple speeds
In a platoon, vehicles travel one after another with small intervehicle distances; trailing vehicles in a platoon save fuel because they experience less aerodynamic drag. This work presents a coordinated platooning model with multiple speed options that integrates scheduling, routing, speed selection, and platoon formation/dissolution in a mixed-integer linear program that minimizes the total fuel consumed by a set of vehicles while traveling between their respective origins and destinations. The performance of this model is numerically tested on a grid network and the Chicago-area highway network. We find that the fuel-savings factor of a multivehicle system significantly depends on the time each vehicle is allowed to stay in the network; this time affects vehicles’ available speed choices, possible routes, and the amount of time for coordinating platoon formation. For problem instances with a large number of vehicles, we propose and test a heuristic decomposed approach that applies a clustering algorithm to partition the set of vehicles and then routes each group separately. When the set of vehicles is large and the available computational time is small, the decomposed approach finds significantly better solutions than does the full model.
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A driving cycle detection approach using map service API
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Zhu, Lei (ORCID:000000017307958X)↗
Life cycle assessment and tempo-spatial optimization of deploying dynamic wireless charging technology for electric cars
Dynamic wireless power transfer (DWPT), or dynamic wireless charging technology, enables charging-while-driving and offers opportunities for eliminating range anxiety, stimulating market penetration of electric vehicles (EVs), and enhancing the sustainability performance of electrified transportation. However, the deployment of wireless charging lanes on highways and urban road networks can be costly and resource-intensive. A life cycle assessment (LCA) is conducted here to compare the sustainability performance of DWPT applied in a network of highways and urban roads for charging electric passenger cars. The assessment compares DWPT to stationary wireless charging and to conventional plug-in charging using a case study of Washtenaw County in Michigan, USA over 20 years. The LCA is based on three key sustainability metrics: costs, greenhouse gas (GHG) emissions, and energy burdens, encompassing not only the use-phase burdens from electricity and fuel, but also the upfront deployment burdens of DWPT infrastructure. A genetic algorithm is applied to optimize the rollout of DWPT infrastructure both spatially and temporally in order to minimize life cycle costs, GHG, and energy burdens: (1) spatial optimization selects road segments to deploy DWPT considering traffic volume, speed, and pavement remaining service life (RSL); (2) temporal optimization determines in which year to deploy DWPT on a particular road segment considering EV market share growth as a function of DWPT coverage rate, future DWPT cost reduction, and charging efficiency improvement. Results indicate that optimal deployment of DWPT electrifying up to about 3% of total roadway lane-miles reduces life cycle GHG emissions and energy by up to 9.0% and 6.8%, respectively, and enables downsizing of the EV battery capacity by up to 48%, compared to the non-DWPT scenarios. Roadside solar panels and storage batteries are essential to significantly reduce life cycle energy and GHG burdens but bring additional costs. Breakeven analysis indicates a breakeven year for solar charging benefits to pay back the DWPT infrastructure burdens can be less than 20 years for GHG and energy burdens but longer than 20 years for costs. A monetization of carbon emissions of at least $250 per metric tonne of CO 2 is required to shift the optimal “pro-cost” deployment to the optimal “pro-GHG” deployment. A roadway segment with volume greater than about 26,000 vehicle counts per day, speed slower than 55 miles per hour (1 mile ≈ 1.609 km), and pavement RSL shorter than 3 years should be given a high priority for early-stage DWPT deployment.
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Cooperative lane control application for fully connected and automated vehicles at multilane freeways
Advances in communications technology have made the development of connected and automated vehicle (CAV) applications that may potentially replace traditional, gantry operated lane control signals (LCSs) possible. Here, we develop the concept of a prototype CAV-enabled LCS application and provides a preliminary assessment of the potential improvement it offers over traditional LCS. Real-world data obtained from an LCS on I-66 in Northern Virginia was used to calibrate and validate a baseline simulation model. Further, the current lane control scenarios utilized in the Northern Virginia LCS were identified and relevant data resulting from implementation of those scenarios were collected to model the LCS in a simulation environment. The performance of real-world LCS was then compared to a prototype CAV-enabled LCS application developed in this research. The CAV-enabled LCS application consistently outperformed the traditional LCS with increased throughput and speeds. On average, an increase of 18.4%, 9.6% and 12.8% in throughput was observed for three selected scenarios under the best case of a 1 sec headway. Furthermore, the CAV-enabled LCS application was also found to reduce volatility, represented by variation in acceleration and deceleration regimes, by an average of 25.6% and 49.6%. The reduction in turbulence in the traffic stream may indicate potential improved safety with the CAV system.
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Efficient proactive vehicle relocation for on-demand mobility service with recurrent neural networks
One major challenge for on-demand mobility service (OMS) providers is to seamlessly match empty vehicles with trip requests so that the total vacant mileage is minimized. In this work, we develop an innovative data-driven approach for devising efficient vehicle relocation policy for OMS that (1) proactively relocates vehicles before the demand is observed and (2) reduces the inequality among drivers' income so that the proactive relocation policy is fair and is likely to be followed by drivers. Our approach represents the fusion of optimization and machine learning methods, which comprises three steps: First, we formulate the optimal proactive relocation as an optimal/stable matching problems and solve for global optimal solutions based on historical data. Second, the optimal solutions are then grouped and fed to train the deep learning models which consist of fully connected layers and long short-term memory networks. Low rank approximation is introduced to reduce the model complexity and improve the training performances. Finally, we use the trained model to predict the relocation policy which can be implemented in real time. We conduct comprehensive numerical experiments and sensitivity analyses to demonstrate the performances of the proposed method using New York City taxi data. Here, the results suggest that our method will reduce empty mileage per trip by 54-70% under optimal matching strategy, and a 25-32% reduction can also be achieved by following stable matching strategy. We also validate that the predicted relocation policies are robust in the presence of uncertain passenger demand level and passenger trip-requesting behavior.
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Microsimulation of Energy and Flow Effects from Optimal Automated Driving in Mixed Traffic
In this paper we study the energy and traffic impact of a proposed Anticipative Cruise Controller in a PTV VISSIM microsimulation environment. We dissect our controller into two parts: 1. the unconnected mode, active when following a human-driven vehicle, and 2. the connected mode, active when following another automated vehicle equipped with connectivity. Probabilistic constraints balance safety considerations with inter-vehicle compactness, and vehicle constraints for acceleration capabilities are expressed through the use of powertrain maps. Emergent highway traffic scenarios are then modeled using time headway distributions from empirical traffic data. To study the impact of automation over a range of demands of free-flow to stop-and-go, we vary vehicle flux from low to high and vary automated vehicle penetration from low to high. When examining all-human driving scenarios, network capacity failed to meet demand in high-volume scenarios, such as rush-hour traffic. We further find that with connected automated vehicles introduced, network capacity was improved to support the high-volume scenarios. Finally, we examine energy efficiencies of the fleet for conventional, electric, and hybrid vehicles. We find that automated vehicles perform at a 10%-20% higher energy efficiency over human drivers when considering conventional powertrains, and find that automated vehicles perform at a 3%-9% higher energy efficiency over human drivers when considering electric and hybrid powertrains. Due to secondary effects of smoothing traffic flow and reducing unnecessary braking, energy benefits also apply to human-driven vehicles that interact with automated ones. Such simulated humans were found to drive up to 10% more energy-efficiently than they did in the baseline all-human scenario.
32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
How Many Trip Requests Could We Support? An Activity-Travel Based Vehicle Scheduling Approach
In a world of ever-changing travel behavior and ever-increasing modal options, is vital to have integrated models that could capture the interactions between supply and demand layers of travel. Addressing this need, we propose three different versions of network representation and mathematical models for the activity-based vehicle routing problem to connect activity-travel graphs of passengers (demand layer) to spatio-temporal networks of vehicles (supply layer). Versions I and II are arc-based, while version III is path-based. In version I, we introduce the concept of activity-travel graphs for passengers. For vehicles, we construct space–time networks and add a new dimension, called “under-service state”, to track the execution status of trip requests at any location and time. In version II, we reduce the complexity of the network structure by eliminating the state dimension and some other modifications in the structure of the passengers’ and vehicles’ network. Although both versions can capture various behavioral constraints of the activity-based vehicle routing problem (e.g., mandatory and optimal activities, duration of activities, chain of activities, preferred starting and ending times of activities), due to the high level of complexity of the network structure, both versions can only solve small-sized problems. To tackle the computational complexity, we propose a path-based network representation in version III, and to make a balance between the disutility of passengers and vehicles, we present a tolled user equilibrium problem. Mathematical models are coded in C and GAMS and implemented on real-world Phoenix regional transportation network with more than 39 million trip requests, which demonstrate the effectiveness of the proposed solution for the original and restricted master problems.
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Real time operation of high-capacity electric vehicle ridesharing fleets
We study the feasibility of using electric vehicles in online, high-capacity ridepooling systems. Prior work has shown that online algorithms perform well for centrally-controlled, high-capacity ridepool systems. First, we propose a mixed integer linear program to expand past algorithms on ridepooling to electric vehicle fleets with the objective of scheduling vehicle charging to maintain sufficient fleet sizes at various times of day. Then we show a faster, scalable algorithm with similar performance that is practical for full-scale systems. Furthermore, our contributions reinforce the importance of having knowledge and estimates of future demand even when operating in the online setting.
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Energy and mobility impacts of connected autonomous vehicles with co-optimization of speed and powertrain on mixed vehicle platoons
Intersections are known to be traffic bottlenecks where a significant amount of energy consumption could be caused due to deceleration/acceleration in the presence of red signals. With an increased level of connectivity and automation of intelligent transportation systems, connected autonomous vehicles (CAVs) are expected to be able to proactively adjust their driving strategies subject to constraints imposed by the predicted future traffic. As a result, many potential benefits can be achieved, such as improved energy efficiency, enhanced traffic safety, among many others. Notably, the way CAVs are controlled affects the following legacy vehicles (LVs) due to complex traffic dynamics. Here, we are particularly interested in studying the energy and mobility impact of CAVs with an improved traffic prediction method on mixed vehicle platoons at various market penetration rates. Leveraging traffic prediction, CAVs are controlled with co-optimization of their speed and gear position. Specifically, a traffic prediction framework in a rolling horizon fashion is employed based upon a modified Payne–Whitham (PW) model capable of handling mixed traffic consisting of CAVs and LVs. The prediction error of the modified PW model is reduced by 53.62% compared to that of the standard PW model under test scenarios. According to the predicted traffic conditions, speed and gear position of CAVs are co-optimized with the primary goal of minimizing energy consumption when driving on a signalized arterial. The energy benefits achieved by CAVs and the impact of CAVs on LVs behind are studied comprehensively for mixed vehicle platoons. The lead LV follows a real-world speed profile collected on TH-55 in Minnesota. Numerical results show that energy benefits achieved by the vehicle platoon range from 2% to 16%, and a 1% to 5% reduction in travel time for LVs behind CAVs is also observed, at different penetration rates of CAVs in various traffic scenarios. Furthermore, it is observed that CAVs using the proposed eco-driving approach appear to have a positive impact on the LVs behind in terms of energy consumption, regardless of the driving styles of the LVs ahead.
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Joint routing of conventional and range-extended electric vehicles in a large metropolitan network
Range-extended electric vehicles combine the higher efficiency and environmental benefits of battery-powered electric motors with the longer mileage and autonomy of conventional internal combustion engines. This combination is particularly advantageous for time-constrained delivery routing in dense urban areas, where battery recharging along routes can be too time-consuming to economically justify the use of all-electric vehicles. However, switching from electric to conventional fossil fuel modes also results in higher costs and emissions and lower efficiency. This paper analyzes this heterogeneous vehicle routing problem and describes two solution methods: an exact branch-price-and-cut algorithm and an iterated tabu search metaheuristic. From a methodological perspective, we find that the exact algorithm consistently obtains tight lower bounds that also serve to certify the metaheuristic solutions as near-optimal. From a policy standpoint, we examine a large-scale real-world case study concerning parcel deliveries in the Chicago metropolitan area and quantify various operational metrics including energy costs and vehicle miles traveled. We find that by deploying roughly 20% of range -extended vehicles with a modest all-electric range of 33 miles, parcel distributors can save energy costs by up to 17% while incurring less than 0.5% increase in vehicle miles traveled. Increasing the range to 60 miles further reduces costs by only 4%, which can alternatively be achieved by decreasing the average service time by 1 minute or increasing driver working time by 1 hour. In conclusion, our study reveals several key areas of improvement on which vehicle manufacturers, distributors, and policy makers can focus their attention.
33 ADVANCED PROPULSION SYSTEMS↗
Implications of stop-and-go traffic on training learning-based car-following control
Learning-based car-following control (LCC) of connected and autonomous vehicles (CAVs) is gaining significant attention with the advancement of computing power and data accessibility. While the flexibility and large model capacity of model-free architecture enable LCC to potentially outperform the model-based car-following (CF) model in improving traffic efficiency and mitigating congestion, the generalizability of LCC for traffic conditions different from the training environment/dataset is not well-understood. Herein, this study seeks to explore the impact of stop-and-go traffic in the training dataset on the generalizability of LCC. It uses the characteristics of lead vehicle trajectories to describe stop-and-go traffic, and links the theory of identifiability (i.e., obtaining a unique parameter estimation result using sensor measurements) to the generalizability of behavior cloning (BC) and policy-based deep reinforcement learning (DRL). Correspondingly, the study shows theoretically that: (i) stop-and-go traffic can enable the property of identifiability and enhance the control performance of BC-based LCC in different traffic conditions; (ii) stop-and-go traffic is not necessary for DRL-based LCC to generalize to different traffic conditions; (iii) DRL-based LCC trained with only constant-speed lead vehicle trajectories (not sufficient to ensure identifiability) can be generalized to different traffic conditions; and (iv) stop-and-go traffic increases variance in the training dataset, which improves the convergence of parameter estimation while negatively impacting the convergence of DRL to the optimal control policy. Numerical experiments validate the above findings, illustrating that BC-based LCC entails comprehensive training datasets for generalizing to different traffic conditions, while DRL-based LCC can achieve generalization with simple free-flow traffic training environments. This further suggests DRL as a more promising and cost-effective LCC approach to reduce operational costs, mitigate traffic congestion, and enhance safety and mobility, which can accelerate the deployment and acceptance of CAVs.
33 ADVANCED PROPULSION SYSTEMS↗