A distributed local Kalman consensus filter for traffic estimation

Ye Sun; Daniel B. Work

doi:10.1109/CDC.2014.7040406

A distributed local Kalman consensus filter for traffic estimation

Ye Sun, Daniel B. Work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This work proposes a distributed local Kalman consensus filter (DLKCF) for large-scale multi-agent traffic density estimation. The switching mode model (SMM) is used to describe the traffic dynamics on a stretch of roadway, and the model dynamics are linear within each mode. The error dynamics of the proposed DLKCF is shown to be globally asymptotically stable (GAS) when all freeway sections switch between observable modes. For an unobservable section, we prove that the estimates given by the DLKCF are ultimately bounded. Numerical experiments are provided to show the asymptotic stability of the DLKCF for observable modes, and illustrate the effect of the DLKCF on promoting consensus among various local agents. Supplementary source code is available at https://github.com/yesun/DLKCFcdc2014.

Original language	English (US)
Title of host publication	53rd IEEE Conference on Decision and Control,CDC 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	6484-6491
Number of pages	8
Edition	February
ISBN (Electronic)	9781479977468
DOIs	https://doi.org/10.1109/CDC.2014.7040406
State	Published - 2014
Externally published	Yes
Event	2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014 - Los Angeles, United States Duration: Dec 15 2014 → Dec 17 2014

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
Number	February
Volume	2015-February
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Other

Other	2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014
Country/Territory	United States
City	Los Angeles
Period	12/15/14 → 12/17/14

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

Online availability

10.1109/CDC.2014.7040406

Library availability

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Cite this

Sun, Y., & Work, D. B. (2014). A distributed local Kalman consensus filter for traffic estimation. In 53rd IEEE Conference on Decision and Control,CDC 2014 (February ed., pp. 6484-6491). [7040406] (Proceedings of the IEEE Conference on Decision and Control; Vol. 2015-February, No. February). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2014.7040406

A distributed local Kalman consensus filter for traffic estimation. / Sun, Ye; Work, Daniel B.

53rd IEEE Conference on Decision and Control,CDC 2014. February. ed. Institute of Electrical and Electronics Engineers Inc., 2014. p. 6484-6491 7040406 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2015-February, No. February).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Sun, Y & Work, DB 2014, A distributed local Kalman consensus filter for traffic estimation. in 53rd IEEE Conference on Decision and Control,CDC 2014. February edn, 7040406, Proceedings of the IEEE Conference on Decision and Control, no. February, vol. 2015-February, Institute of Electrical and Electronics Engineers Inc., pp. 6484-6491, 2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014, Los Angeles, United States, 12/15/14. https://doi.org/10.1109/CDC.2014.7040406

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A distributed local Kalman consensus filter for traffic estimation

Abstract

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