Bilevel Optimization for Bunching Mitigation and Eco-Driving of Electric Bus Lines

The problems of bus bunching mitigation and the energy management of groups of vehicles have traditionally been treated separately in the literature and been formulated in two different frameworks. The present work bridges this gap by formulating the optimal control problem of the bus line eco-driving and regularity control as a smooth, multi-objective
nonlinear program
. Since this nonlinear program has only a few coupling variables, it is shown how it can be solved in parallel aboard each bus, such that only a marginal amount of computations need to be carried out centrally. This procedure leverages the structure of the bus line by enabling parallel computations and reducing the communication loads between the buses, which makes the problem resolution scalable in terms of the number of buses. Closed-loop control is then achieved by embedding this procedure in a
model predictive control
. Stochastic simulations based on real passengers and travel times data are realized for several scenarios with different levels of bunching for a line of electric buses. Our method achieves fast recoveries to regular headways as well as energy savings of up to 9.3% when compared with traditional holding or speed control baselines.