MATHEMATICAL FOUNDATIONS OF AUTONOMOUS TRAM MOVEMENT CONTROL IN MIXED URBAN TRAFFIC
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Abstract
The article develops and substantiates a set of mathematical models forming a closed-loop autonomous tram control system in mixed urban traffic conditions. Based on the traffic light phase synchronization coefficient, original formalizations of four hierarchical control levels are proposed: a multimodal perception system (L1), optimal speed profile planning using dynamic programming (L2), fuzzy situational decision-making based on the Mamdani algorithm (L3), and adaptive priority control of traffic light regulation via the V2I interface (L4).
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References
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