Decentralized optimal control of connected automated vehicles at signal-free intersections including comfort-constrained turns and safety guarantees
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Publication:2280955
DOI10.1016/J.AUTOMATICA.2019.108563zbMATH Open1429.93253arXiv1903.04600OpenAlexW2972170171MaRDI QIDQ2280955FDOQ2280955
Authors: Yue Zhang, Christos G. Cassandras 
Publication date: 19 December 2019
Published in: Automatica (Search for Journal in Brave)
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.
Full work available at URL: https://arxiv.org/abs/1903.04600
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Applications of optimal control and differential games (49N90) Decentralized systems (93A14) Automated systems (robots, etc.) in control theory (93C85)
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Cited In (15)
- Multi-task safe reinforcement learning for navigating intersections in dense traffic
- A constrained optimal control framework for vehicle platoons with delayed communication
- Optimal time trajectory and coordination for connected and automated vehicles
- A combinatorial dynamic network trajectory reservation algorithm for connected autonomous vehicles
- Experimental validation of a semi-distributed sequential quadratic programming method for optimal coordination of automated vehicles at intersections
- Real‐time control of connected vehicles in signalized corridors using pseudospectral convex optimization
- Safety and Liveness in Intelligent Intersections
- Fuzzy motion control strategy for cooperation of multiple automated vehicles with passengers comfort
- A decentralized energy-optimal control framework for connected automated vehicles at signal-free intersections
- Contention-resolving model predictive control for an intelligent intersection traffic model
- Optimal control of connected automated vehicles with event/self-triggered control barrier functions
- A discrete-event and hybrid traffic simulation model based on SimEvents for intelligent transportation system analysis in Mcity
- 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
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