On the Co-Design of AV-Enabled Mobility Systems

Gioele Zardini, Nicolas Lanzetti, Mauro Salazar, Andrea Censi, Emilio Frazzoli, Marco Pavone

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

9 Citations (Scopus)
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The design of autonomous vehicles (AVs) and the design of AV-enabled mobility systems are closely coupled. Indeed, knowledge about the intended service of AVs would impact their design and deployment process, whilst insights about their technological development could significantly affect transportation management decisions. This calls for tools to study such a coupling and co-design AVs and AV-enabled mobility systems in terms of different objectives. In this paper, we instantiate a framework to address such co-design problems. In particular, we leverage the recently developed theory of co-design to frame and solve the problem of designing and deploying an intermodal Autonomous Mobility-on-Demand system, whereby AVs service travel demands jointly with public transit, in terms of fleet sizing, vehicle autonomy, and public transit service frequency. Our framework is modular and compositional, allowing one to describe the design problem as the interconnection of its individual components and to tackle it from a system-level perspective. To showcase our methodology, we present a real-world case study for Washington D.C., USA. Our work suggests that it is possible to create user-friendly optimization tools to systematically assess costs and benefits of interventions, and that such analytical techniques might gain a momentous role in policy-making in the future.

Original languageEnglish
Title of host publication2020 IEEE 23rd International Conference on Intelligent Transportation Systems, ITSC 2020
PublisherInstitute of Electrical and Electronics Engineers
Number of pages8
ISBN (Electronic)9781728141497
Publication statusPublished - 20 Sept 2020
Event23rd IEEE International Conference on Intelligent Transportation Systems, ITSC 2020 - Rhodes, Greece
Duration: 20 Sept 202023 Sept 2020


Conference23rd IEEE International Conference on Intelligent Transportation Systems, ITSC 2020
Abbreviated titleITSC2020
Internet address

Bibliographical note

Funding Information:
1Institute for Dynamic Systems and Control, ETH Zürich, {gzardini,acensi,emilio.frazzoli}@ethz.ch 2Automatic Control Laboratory, ETH Zürich, lnicolas@ethz.ch 3Department of Aeronautics and Astronautics, Stanford University, pavone@stanford.edu 4Control Systems Technology Group, Eindhoven University of Technology, m.r.u.salazar@tue.nl A preliminary version of this paper was presented at the 99th Annual Meeting of the Transportation Research Board [1]. This research was supported by the National Science Foundation under CAREER Award CMMI-1454737, the Toyota Research Institute (TRI), and ETH Zürich. This article solely reflects the opinions and conclusions of its authors and not NSF, TRI, or any other entity.

Publisher Copyright:
© 2020 IEEE.

Copyright 2021 Elsevier B.V., All rights reserved.


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