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Artificial traffic fluids emerging from the design of cruise controllers

Karafyllis Iason, Theodosis Dionysios, Papageorgiou Markos

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URIhttp://purl.tuc.gr/dl/dias/8ED6CA7E-E29F-49F4-9786-940F434712DC-
Identifierhttps://doi.org/10.1109/CDC51059.2022.9992605-
Identifierhttps://ieeexplore.ieee.org/document/9992605-
Languageen-
Extent6 pagesen
TitleArtificial traffic fluids emerging from the design of cruise controllersen
CreatorKarafyllis Iasonen
CreatorΚαραφυλλης Ιασωνel
CreatorTheodosis Dionysiosen
CreatorΘεοδοσης-Παλιμερης Διονυσιοςel
CreatorPapageorgiou Markosen
CreatorΠαπαγεωργιου Μαρκοςel
PublisherInstitute of Electrical and Electronics Engineersen
DescriptionThe research leading to these results has received funding from the European Research Council under the European Union’s Horizon 2020 Research and Innovation programme/ ERC Grant Agreement n. [833915], project TrafficFluid.en
Content SummaryIn this paper, we present two Control Lyapunov Function based families of cruise controllers for the two-dimensional movement of autonomous vehicles on lane-free roads using the bicycle kinematic model. The control Lyapunov functions are based on measures of the energy of the system with the kinetic energy expressed in ways similar to Newtonian or relativistic mechanics. The derived feedback laws (cruise controllers) are decentralized, as each vehicle determines its control input based on its own speed and on the relative speeds and distances from adjacent vehicles and from the boundary of the road. Moreover, the corresponding macroscopic models are derived, obtaining fluid-like models that consist of a conservation equation and a momentum equation with pressure and viscous terms. Finally, we show that, by selecting appropriately the parameters of the feedback laws, we get free hand to create an artificial fluid that approximates the emerging traffic flow.en
Type of ItemΠλήρης Δημοσίευση σε Συνέδριοel
Type of ItemConference Full Paperen
Licensehttp://creativecommons.org/licenses/by-nc-nd/4.0/en
Date of Item2024-06-25-
Date of Publication2022-
SubjectArtificial fluiden
SubjectCruise controller designen
Bibliographic CitationI. Karafyllis, D. Theodosis and M. Papageorgiou, "Artificial traffic fluids emerging from the design of cruise controllers," in 2022 IEEE 61st Conference on Decision and Control (CDC), Cancun, Mexico, 2022, doi: 10.1109/CDC51059.2022.9992605.en

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