Stochastic Model Predictive Control for Autonomous Mobility on Demand

This paper presents a stochastic, model predictive control (MPC) algorithm that leverages short-term probabilistic forecasts for dispatching and rebalancing Autonomous Mobility-on-Demand systems (AMoD, i.e. fleets of self-driving vehicles). We first present the core stochastic optimization problem in terms of a time-expanded network flow model. Then, to ameliorate its tractability, we present two key relaxations. First, we replace the original stochastic problem with a Sample Average Approximation (SAA), and characterize the performance guarantees. Second, we separate the controller into two separate parts to address the task of assigning vehicles to the outstanding customers separate from that of rebalancing. This enables the problem to be solved as two totally unimodular linear programs, and thus easily scalable to large problem sizes. Finally, we test the proposed algorithm in two scenarios based on real data and show that it outperforms prior state-of-the-art algorithms. In particular, in a simulation using customer data from DiDi Chuxing, the algorithm presented here exhibits a 62.3 percent reduction in customer waiting time compared to state of the art non-stochastic algorithms.Comment: Submitting to the IEEE International Conference on Intelligent Transportation Systems 201

ON THE NETWORK TRAFFIC ANALYSIS WITH THE NON-STATIONARY POISSON PROCESS

制度:新 ; 報告番号:乙2285号 ; 学位の種類:博士(工学) ; 授与年月日:2010/7/29 ; 早大学位記番号:新544

Demand estimation and chance-constrained fleet management for ride hailing

In autonomous Mobility on Demand (MOD) systems, customers request rides from a fleet of shared vehicles that can be automatically positioned in response to customer demand. Recent approaches to MOD systems have focused on environments where customers can only request rides through an app or by waiting at a station. This paper develops MOD fleet management approaches for ride hailing, where customers may instead request rides simply by hailing a passing vehicle, an approach of particular importance for campus MOD systems. The challenge for ride hailing is that customer demand is not explicitly provided as it would be with an app, but rather customers are only served if a vehicle happens to be located at the arrival location. This work focuses on maximizing the number of served hailing customers in an MOD system by learning and utilizing customer demand. A Bayesian framework is used to define a novel customer demand model which incorporates observed pedestrian traffic to estimate customer arrival locations with a quantification of uncertainty. An exploration planner is proposed which routes MOD vehicles in order to reduce arrival rate uncertainty. A robust ride hailing fleet management planner is proposed which routes vehicles under the presence of uncertainty using a chance-constrained formulation. Simulation of a real-world MOD system on MIT's campus demonstrates the effectiveness of the planners. The customer demand model and exploration planner are demonstrated to reduce estimation error over time and the ride hailing planner is shown to improve the fraction of served customers in the system by 73% over a baseline exploration approach.Ford-MIT AllianceFord Motor Compan

Computationally Efficient Simulation of Queues: The R Package queuecomputer

Large networks of queueing systems model important real-world systems such as MapReduce clusters, web-servers, hospitals, call centers and airport passenger terminals. To model such systems accurately, we must infer queueing parameters from data. Unfortunately, for many queueing networks there is no clear way to proceed with parameter inference from data. Approximate Bayesian computation could offer a straightforward way to infer parameters for such networks if we could simulate data quickly enough. We present a computationally efficient method for simulating from a very general set of queueing networks with the R package queuecomputer. Remarkable speedups of more than 2 orders of magnitude are observed relative to the popular DES packages simmer and simpy. We replicate output from these packages to validate the package. The package is modular and integrates well with the popular R package dplyr. Complex queueing networks with tandem, parallel and fork/join topologies can easily be built with these two packages together. We show how to use this package with two examples: a call center and an airport terminal.Comment: Updated for queuecomputer_0.8.

Weather impacts on various types of road crashes: a quantitative analysis using generalized additive models

Adverse weather conditions can have different effects on different types of road crashes. We quantify the combined effects of traffic volume and meteorological parameters on hourly probabilities of 78 different crash types using generalized additive models. Using tensor product bases, we model non-linear relationships and combined effects of different meteorological parameters. We evaluate the increase in relative risk of different crash types in case of precipitation, sun glare and high wind speeds. The largest effect of snow is found in case of single-truck crashes, while rain has a larger effect on single-car crashes. Sun glare increases the probability of multi-car crashes, in particular at higher speed limits and in case of rear-end crashes. High wind speeds increase the probability of single-truck crashes and, for all vehicle types, the risk of crashes with objects blown on the road. A comparison of the predictive power of models with and without meteorological variables shows an improvement of scores of up to 24%, which makes the models suitable for applications in real-time traffic management or impact-based warning systems. These could be used by authorities to issue weather-dependent driving restrictions or situation-specific on-board warnings to improve road safety

Identifying High Crash Risk Roadways through Jerk-Cluster Analysis

The state-of-the-practice for most municipal traffic agencies seeking to identify high-risk road segments has been to use prior crash history. While historic traffic crash data is recognized to be valuable in improving roadway safety, it relies on prior observation rather than future crash likelihood. Recently, however, researchers are developing predictive crash methods based on “abnormal driving events.” These include abrupt and atypical vehicle movements thought to be indicative of crash avoidance maneuvers and/or near-crashes. Because these types of near-crash events occur far more frequently than actual crashes, it is hypothesized that they can be used as an indicator of high-risk locations and, even more valuably, to identify where crashes are likely to occur in the future. This thesis describes the results of research that used naturalistic driving data collected from global positioning system (GPS) sensors to locate high concentrations of abrupt and atypical vehicle movements in Baton Rouge, Louisiana based on vehicle rate of change of acceleration (jerk). Statistical analyses revealed that clusters of high magnitude jerk events while decelerating were significantly correlated to long-term crash rates at these same locations. These significant and consistent relationships between jerks and crashes suggest that these events can be used as surrogate measures of safety and as a way of predicting safety problems before even a single crash has occurred