| 研究実績の概要 |
The project yielded steady yearly contributions beyond the initial plan. The core architecture, a traffic network's cyber-physical framework (CPF) for coordinating connected automated vehicles, was developed in the first year, where a broadcast control for receding horizon optimization was another key contribution. We extended the CPF, for major scenarios and developed (1) a bi-level coordination framework for smooth flows of the connected automated vehicles through successive optimization techniques at the roundabout, (2) an optimal overtaking scheme, (c) lane-changing and merging coordination of vehicles on multi-lane freeways.
Besides the core CPF, the project scope included vital driving control, safety, and road-network modeling technologies. The most noteworthy outcome is the look-ahead driving schemes that efficiently drive automated vehicles while enhancing other vehicles' performances and overall road capacity. Specifically, this breakthrough real-time implementable driving technology does not require computationally demanding nonlinear optimization and is suitable for CPF. Other remarkable achievements are a fuzzy-tuned vehicle control scheme for eco-driving, a comprehensive survey on multiple vehicle cooperation and collision avoidance, a nature-inspired road network design, a cloud-based ridesharing scheme, and energy-efficient parking management. In summary, we have published ten journal papers, and some of them have high-impact factors. In addition, the key development is presented in an international workshop and several international conferences.
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