A decentralized energy-optimal control framework for connected automated vehicles at signal-free intersections
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Publication:1797010
DOI10.1016/J.AUTOMATICA.2018.03.056zbMATH Open1400.93010arXiv1602.03786OpenAlexW2613420336MaRDI QIDQ1797010FDOQ1797010
Authors: Yanyan Li 
Publication date: 17 October 2018
Published in: Automatica (Search for Journal in Brave)
Abstract: We address the problem of optimally controlling connected and automated vehicles (CAVs) crossing an urban intersection without any explicit traffic signaling, so as to minimize energy consumption subject to a throughput maximization requirement. We show that the solution of the throughput maximization problem depends only on the hard safety constraints imposed on CAVs and its structure enables a decentralized optimal control problem formulation for energy minimization. We present a complete analytical solution of these decentralized problems and derive conditions under which feasible solutions satisfying all safety constraints always exist. The effectiveness of the proposed solution is illustrated through simulation which shows substantial dual benefits of the proposed decentralized framework by allowing CAVs to conserve momentum and fuel while also improving travel time.
Full work available at URL: https://arxiv.org/abs/1602.03786
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traffic flowmotion planningsafetydecentralized optimal controlautonomous intersectionsconnected and automated vehiclesenergy usage
Applications of optimal control and differential games (49N90) Decentralized systems (93A14) Automated systems (robots, etc.) in control theory (93C85)
Cites Work
Cited In (23)
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- Decentralized optimal coordination of connected and automated vehicles for multiple traffic scenarios
- A safety-prioritized receding horizon control framework for platoon formation in a mixed traffic environment
- Decentralized optimal merging control for connected and automated vehicles with safety constraint guarantees
- Bridging the gap between optimal trajectory planning and safety-critical control with applications to autonomous vehicles
- Conditions to provable system-wide optimal coordination of connected and automated vehicles
- Energy-oriented inter-vehicle distance optimization for heterogeneous e-platoons
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