Bridging the user equilibrium and the system optimum in static traffic assignment: a review

Solving the road congestion problem is one of the most pressing issues in modern cities since it causes time wasting, pollution, higher industrial costs and huge road maintenance costs. Advances in ITS technologies and the advent of autonomous vehicles are changing mobility dramatically. They enable the implementation of a coordination mechanism, called coordinated traffic assignment, among the sat-nav devices aiming at assigning paths to drivers to eliminate congestion and to reduce the total travel time in traffic networks. Among possible congestion avoidance methods, coordinated traffic assignment is a valuable choice since it does not involve huge investments to expand the road network. Traffic assignments are traditionally devoted to two main perspectives on which the well-known Wardropian principles are inspired: the user equilibrium and the system optimum. User equilibrium is a user-driven traffic assignment in which each user chooses the most convenient path selfishly. It guarantees that fairness among users is respected since, when the equilibrium is reached, all users sharing the same origin and destination will experience the same travel time. The main drawback in a user equilibrium is that the system total travel time is not minimized and, hence, the so-called Price of Anarchy is paid. On the other hand, the system optimum is an efficient system-wide traffic assignment in which drivers are routed on the network in such a way the total travel time is minimized, but users might experience travel times that are higher than the other users travelling from the same origin to the same destination, affecting the compliance. Thus, drawbacks in implementing one of the two assignments can be overcome by hybridizing the two approaches, aiming at bridging users’ fairness to system-wide efficiency. In the last decades, a significant number of attempts have been done to bridge fairness among users and system efficiency in traffic assignments. The survey reviews the state-of-the-art of these trade-off approaches

Modeling Lane-Changing Behavior in a Connected Environment: A Game Theory Approach

AbstractVehicle-to-Vehicle communications provide the opportunity to create an internet of cars through the recent advances in communication technologies, processing power, and sensing technologies. Aconnected vehicle receives real-time information from surrounding vehicles; such information can improve drivers’ awareness about their surrounding traffic condition and lead to safer and more efficient driving maneuvers. Lane-changing behavior,as one of the most challenging driving maneuvers to understand and to predict, and a major source of congestion and collisions, can benefit from this additional information.This paper presents a lane-changing model based on a game-theoretical approach that endogenously accounts for the flow of information in a connected vehicular environment.A calibration approach based on the method of simulated moments is presented and a simplified version of the proposed framework is calibrated against NGSIM data. The prediction capability of the simplified model is validated. It is concluded the presented framework is capable of predicting lane-changing behavior with limitations that still need to be addressed.Finally, a simulation framework based on the fictitious play is proposed. The simulation results revealed that the presented lane-changing model provides a greater level of realism than a basic gap-acceptance model

Game Theoretic Model Predictive Control for Autonomous Driving

This study presents two closely-related solutions to autonomous vehicle control problems in highway driving scenario using game theory and model predictive control. We first develop a game theoretic four-stage model predictive controller (GT4SMPC). The controller is responsible for both longitudinal and lateral movements of Subject Vehicle (SV) . It includes a Stackelberg game as a high level controller and a model predictive controller (MPC) as a low level one. Specifically, GT4SMPC constantly establishes and solves games corresponding to multiple gaps in front of multiple-candidate vehicles (GCV) when SV is interacting with them by signaling a lane change intention through turning light or by a small lateral movement. SV’s payoff is the negative of the MPC’s cost function , which ensures strong connection between the game and that the solution of the game is more likely to be achieved by a hybrid MPC (HMPC). GCV’s payoff is a linear combination of the speed payoff, headway payoff and acceleration payoff. . We use decreasing acceleration model to generate our prediction of TV’s future motion, which is utilized in both defining TV’s payoffs over the prediction horizon in the game and as the reference of the MPC. Solving the games gives the optimal gap and the target vehicle (TV). In the low level , the lane change process are divided into four stages: traveling in the current lane, leaving current lane, crossing lane marking, traveling in the target lane. The division identifies the time that SV should initiate actual lateral movement for the lateral controller and specifies the constraints HMPC should deal at each step of the MPC prediction horizon. Then the four-stage HMPC controls SV’s actual longitudinal motion and execute the lane change at the right moment. Simulations showed the GT4SMPC is able to intelligently drive SV into the selected gap and accomplish both discretionary land change (DLC) and mandatory lane change (MLC) in a dynamic situation. Human-in-the-loop driving simulation indicated that GT4SMPC can decently control the SV to complete lane changes with the presence of human drivers. Second, we propose a differential game theoretic model predictive controller (DGTMPC) to address the drawbacks of GT4SMPC. In GT4SMPC, the games are defined as table game, which indicates each players only have limited amount of choices for a specific game and such choice remain fixed during the prediction horizon. In addition, we assume a known model for traffic vehicles but in reality drivers’ preference is partly unknown. In order to allow the TV to make multiple decisions within the prediction horizon and to measure TV’s driving style on-line, we propose a differential game theoretic model predictive controller (DGTMPC). The high level of the hierarchical DGTMPC is the two-player differential lane-change Stackelberg game. We assume each player uses a MPC to control its motion and the optimal solution of leaders’ MPC depends on the solution of the follower. Therefore, we convert this differential game problem into a bi-level optimization problem and solves the problem with the branch and bound algorithm. Besides the game, we propose an inverse model predictive control algorithm (IMPC) to estimate the MPC weights of other drivers on-line based on surrounding vehicle’s real-time behavior, assuming they are controlled by MPC as well. The estimation results contribute to a more appropriate solution to the game against driver of specific type. The solution of the algorithm indicates the future motion of the TV, which can be used as the reference for the low level controller. The low level HMPC controls both the longitudinal motion of SV and his real-time lane decision. Simulations showed that the DGTMPC can well identify the weights traffic vehicles’ MPC cost function and behave intelligently during the interaction. Comparison with level-k controller indicates DGTMPC’s Superior performance

Game Theoretic Model Predictive Control for Autonomous Driving

This study presents two closely-related solutions to autonomous vehicle control problems in highway driving scenario using game theory and model predictive control. We first develop a game theoretic four-stage model predictive controller (GT4SMPC). The controller is responsible for both longitudinal and lateral movements of Subject Vehicle (SV) . It includes a Stackelberg game as a high level controller and a model predictive controller (MPC) as a low level one. Specifically, GT4SMPC constantly establishes and solves games corresponding to multiple gaps in front of multiple-candidate vehicles (GCV) when SV is interacting with them by signaling a lane change intention through turning light or by a small lateral movement. SV’s payoff is the negative of the MPC’s cost function , which ensures strong connection between the game and that the solution of the game is more likely to be achieved by a hybrid MPC (HMPC). GCV’s payoff is a linear combination of the speed payoff, headway payoff and acceleration payoff. . We use decreasing acceleration model to generate our prediction of TV’s future motion, which is utilized in both defining TV’s payoffs over the prediction horizon in the game and as the reference of the MPC. Solving the games gives the optimal gap and the target vehicle (TV). In the low level , the lane change process are divided into four stages: traveling in the current lane, leaving current lane, crossing lane marking, traveling in the target lane. The division identifies the time that SV should initiate actual lateral movement for the lateral controller and specifies the constraints HMPC should deal at each step of the MPC prediction horizon. Then the four-stage HMPC controls SV’s actual longitudinal motion and execute the lane change at the right moment. Simulations showed the GT4SMPC is able to intelligently drive SV into the selected gap and accomplish both discretionary land change (DLC) and mandatory lane change (MLC) in a dynamic situation. Human-in-the-loop driving simulation indicated that GT4SMPC can decently control the SV to complete lane changes with the presence of human drivers. Second, we propose a differential game theoretic model predictive controller (DGTMPC) to address the drawbacks of GT4SMPC. In GT4SMPC, the games are defined as table game, which indicates each players only have limited amount of choices for a specific game and such choice remain fixed during the prediction horizon. In addition, we assume a known model for traffic vehicles but in reality drivers’ preference is partly unknown. In order to allow the TV to make multiple decisions within the prediction horizon and to measure TV’s driving style on-line, we propose a differential game theoretic model predictive controller (DGTMPC). The high level of the hierarchical DGTMPC is the two-player differential lane-change Stackelberg game. We assume each player uses a MPC to control its motion and the optimal solution of leaders’ MPC depends on the solution of the follower. Therefore, we convert this differential game problem into a bi-level optimization problem and solves the problem with the branch and bound algorithm. Besides the game, we propose an inverse model predictive control algorithm (IMPC) to estimate the MPC weights of other drivers on-line based on surrounding vehicle’s real-time behavior, assuming they are controlled by MPC as well. The estimation results contribute to a more appropriate solution to the game against driver of specific type. The solution of the algorithm indicates the future motion of the TV, which can be used as the reference for the low level controller. The low level HMPC controls both the longitudinal motion of SV and his real-time lane decision. Simulations showed that the DGTMPC can well identify the weights traffic vehicles’ MPC cost function and behave intelligently during the interaction. Comparison with level-k controller indicates DGTMPC’s Superior performance

Future Challenges and Mitigation Methods for High Photovoltaic Penetration: A Survey

: Integration of high volume (high penetration) of photovoltaic (PV) generation with power grids consequently leads to some technical challenges that are mainly due to the intermittent nature of solar energy, the volume of data involved in the smart grid architecture, and the impact power electronic-based smart inverters. These challenges include reverse power flow, voltage fluctuations, power quality issues, dynamic stability, big data challenges and others. This paper investigates the existing challenges with the current level of PV penetration and looks into the challenges with high PV penetration in future scenarios such as smart cities, transactive energy, proliferation of plug-in hybrid electric vehicles (PHEVs), possible eclipse events, big data issues and environmental impacts. Within the context of these future scenarios, this paper reviewed the existing solutions and provides insights to new and future solutions that could be explored to ultimately address these issues and improve the smart grid’s security, reliability and resilienc

Smart Grid Enabling Low Carbon Future Power Systems Towards Prosumers Era

In efforts to meet the targets of carbon emissions reduction in power systems, policy makers formulate measures for facilitating the integration of renewable energy sources and demand side carbon mitigation. Smart grid provides an opportunity for bidirectional communication among policy makers, generators and consumers. With the help of smart meters, increasing number of consumers is able to produce, store, and consume energy, giving them the new role of prosumers. This thesis aims to address how smart grid enables prosumers to be appropriately integrated into energy markets for decarbonising power systems. This thesis firstly proposes a Stackelberg game-theoretic model for dynamic negotiation of policy measures and determining optimal power profiles of generators and consumers in day-ahead market. Simulation results show that the proposed model is capable of saving electricity bills, reducing carbon emissions, and increasing the penetration of renewable energy sources. Secondly, a data-driven prosumer-centric energy scheduling tool is developed by using learning approaches to reduce computational complexity from model-based optimisation. This scheduling tool exploits convolutional neural networks to extract prosumption patterns, and uses scenarios to analyse possible variations of uncertainties caused by the intermittency of renewable energy sources and flexible demand. Case studies confirm that the proposed scheduling tool can accurately predict optimal scheduling decisions under various system scales and uncertain scenarios. Thirdly, a blockchain-based peer-to-peer trading framework is designed to trade energy and carbon allowance. The bidding/selling prices of individual prosumers can directly incentivise the reshaping of prosumption behaviours. Case studies demonstrate the execution of smart contract on the Ethereum blockchain and testify that the proposed trading framework outperforms the centralised trading and aggregator-based trading in terms of regional energy balance and reducing carbon emissions caused by long-distance transmissions

A two-stage stochastic bilevel programming approach for offering strategy of DER aggregators in local and wholesale electricity markets

A two-stage stochastic programming scheme is proposed in order to evaluate the offering strategy of a distributed energy resource aggregator in both wholesale and local electricity markets and appropriately cope with uncertainties associated with its decision-making problem. In this regard, the aggregator combines a broad range of virtual and real distributed energy resources to simultaneously participate in the local electricity market as a price-maker or strategic player and the wholesale electricity market as a price-taker or non-strategic player. To model the studied aggregator as a strategic entity in the local market, a bilevel programming approach is exploited in this work. Accordingly, at the upper level of the raised problem, the aggregator tends to promote its expected profit through taking part in the wholesale and local electricity markets, while at the lower level, the considered local market is cleared in a way to maximise the social welfare. In the end, the effectiveness of the proposed framework for the simultaneous participation of the distributed energy resource aggregator in these two markets has been explored utilising a case study.© 2022 The Authors. IET Renewable Power Generation published by John Wiley & Sons Ltd on behalf of The Institution of Engineering and Technology. This is an open access article under the terms of the Creative Commons Attribution License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited.fi=vertaisarvioitu|en=peerReviewed

Coordination Control of Linear Systems

Schuppen, J.H. van [Promotor]Ran, A.C.M. [Promotor

Contingency Management in Power Systems and Demand Response Market for Ancillary Services in Smart Grids with High Renewable Energy Penetration.

Ph.D. Thesis. University of Hawaiʻi at Mānoa 2017

Analysis of dynamic traffic control and management strategies

Ph.DDOCTOR OF PHILOSOPH