Decentralized optimal control of connected automated vehicles at signal-free intersections including comfort-constrained turns and safety guarantees
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Publication:2280955
Abstract: We extend earlier work for optimally controlling Connected Automated Vehicles (CAVs) crossing a signal-free intersection by including all possible turns taken so as to optimize a passenger comfort metric along with energy and travel time minimization. We show that it is possible to achieve this goal in a decentralized manner with each CAV solving an optimal control problem, and derive explicit solutions that guarantee collision avoidance and safe distance constraints within a control zone. We investigate the associated tradeoffs between minimizing energy and vehicle travel time, as well as the passenger comfort metric and include extensive simulations to illustrate this framework.
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- Multi-task safe reinforcement learning for navigating intersections in dense traffic
- A decentralized energy-optimal control framework for connected automated vehicles at signal-free intersections
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