1. Brian Choi, Emmanuel Peters, Shou-pon Lin E6778 March 7, 2012

2. Outline Brief summary of project Updated timeline Completed tasks Implemented updated merge protocol in simulator with velocity matching Results of baseline Observations which justifies development of extended protocol Developed projection-based proactive merge protocol Future tasks Progress evaluation

3. Project Goals Test the safe driver assisted merge protocol in a software environment to measure improvements in average vehicle throughput and average merge speed as a function of participation rate. Validate the protocol by also testing against the failures initially presented last year. Expand the safe driver assisted merge protocol by introducing proactive merging techniques

4. Updated Timeline 1. Incorporate Protocol into Model (2/8- 3/6) 1. Establish programmable parameters from SDAM protocol (2/8-2/15) 2. Reproduce protocol in software model (2/15-2/25) 3. Incorporate failure modes into model (2/25-3/7) 2. Run Simulations (3/7-4/4) 1. Introduce variability of traffic simulation (3/7-3/14) 2. Evaluate performance (3/14-4/4) 3. Code Debugging (3/14-4/4) 3. Summarize Results (4/4-4/18) 1. Report (4/4-4/11) 2. Presentation (4/11-4/18) 1. Incorporate Protocol into Model (2/8- 3/6) 1. Refine merge protocol for utilization in traffic simulator (2/8-2/15) 2. Projection based proactive merging protocol (2/15-2/25) 3. Add protocols to traffic simulator (2/25-3/7) 2. Run Simulations (3/7-4/4) 1. Run Baseline Simulations (3/7-3/14) 2. Run Updated Protocol Simulations (3/14-4/4) 3. Compare Results (3/28-4/4) 4. Code Debugging (3/14-4/4) 3. Summarize Results (4/4-4/18) 1. Report (4/4-4/11) 2. Presentation (4/11-4/18)

5. Basic Merge Protocol Car on highway breaks suddenly to create room for merging car Other cars are forced to break suddenly also

6. Updated Merging Protocol Instead of initiate merging protocol whenever a vehicle comes up of the ramp, we restrict that when initiating of merging protocol, the merging car should travel within a certain range of neighboring vehicle Limit the amount of deceleration of back car The merging car cannot travel at a speed that is too low

7. Baseline Results

9. Performance in terms of delay

10. Average Throughput

11. The Need of Extended Protocol Finding the participating vehicles by projecting the future positions of vehicles on the main road Match the speed from the start of the ramp, instead of passively traveling on the ramp until the speeds of involved vehicles are matched Creating the gap before the merging point is reached

12. Projection based proactive merging protocol IDM Cruise Control Poll Road Velocity, Positions of neighbors Wait Incr. Safety Spacing Project Positions Accelerate Merge Maneuver Abort Merge Protocol IDM Cruise Control Car on ramp NOT participating in merge Wait Timer expires No suitable neighbors found in X trials No suitable neighbors. No. of Trials <X Neighbors found No neighbors found Select Neighbors for Merge Achieve Target Velocity Merge Completed Unexpected event: Sudden breaking, etc. Car leaves ramp

13. Future Tasks Implement Projection-based proactive merging protocol in the simulator Introduce failure model in the simulator Simulations with the extended protocol Results analysis

14. Progress Evaluation #TasksStartFinish 1Incorporate Protocol into Model2/8/20123/6/2012 1.1Safe driver assisted merge protocol2/8/20122/15/2012 Refine merge protocol for utilization in traffic simulator 1.2Projection based proactive merging protocol2/15/20122/25/2012 Define protocol functions and states to be used in simulator 1.3Traffic Simulator2/25/20123/7/2012 Implement protocols in the traffic simulator 2Run Simulations3/7/20124/4/2012 2.1Run Baseline Simulations3/7/20123/14/2012 Participation Rate 2.2Run Projection based proactive merging protocol Simulations3/14/20123/28/2012 2.3Compare Results3/28/20124/4/2012 2.4Code Debugging3/14/20124/4/2012 3Summarize Results4/4/20124/18/2012 3.1Report4/4/20124/11/2012 3.2Presentation4/11/20124/18/2012 Completed Tasks Task in Progress Task not Started