Conditions to provable system-wide optimal coordination of connected and automated vehicles

DOI10.1016/J.AUTOMATICA.2021.109751MaRDI QIDQ2665393zbMATH OpenOpenAlexFDO

Authors A. M. Ishtiaque Mahbub, Andreas A. Malikopoulos

Publication date 19 November 2021

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2005.14551

zbMATH Keywords

connected and automated vehiclesdecentralized optimal controlenergy usage

Mathematics Subject Classification ID

Applications of optimal control and differential games (49N90) Decentralized systems (93A14) Automated systems (robots, etc.) in control theory (93C85)

Abstract: Connected and automated vehicles (CAVs) provide the most intriguing opportunity to improve energy efficiency, traffic flow, and safety. In earlier work, we addressed the constrained optimal coordination problem of CAVs at different traffic scenarios using Hamiltonian analysis. In this paper, we investigate the properties of the unconstrained problem and provide conditions under which different combination of the state and control constraints become active. We present a condition-based computational framework that improves on the standard iterative solution procedure of the constrained Hamiltonian analysis. Finally, we derive a closed-form analytical solution of the constrained optimal control problem and validate the proposed framework using numerical simulation. The solution can be derived without any recursive steps, and thus it is appropriate for real-time implementation on-board the CAVs.

Recommendations

• Optimal time trajectory and coordination for connected and automated vehicles
• Decentralized optimal coordination of connected and automated vehicles for multiple traffic scenarios
• Cooperative optimal control for connected and automated vehicles platoon
• A decentralized energy-optimal control framework for connected automated vehicles at signal-free intersections
• Decentralized optimal merging control for connected and automated vehicles with safety constraint guarantees

Cites work

• A decentralized energy-optimal control framework for connected automated vehicles at signal-free intersections
• An MPC-Based Approach to Provable System-Wide Safety and Liveness of Autonomous Ground Traffic
• Decentralized optimal control of connected automated vehicles at signal-free intersections including comfort-constrained turns and safety guarantees
• Decentralized optimal coordination of connected and automated vehicles for multiple traffic scenarios
• Longitudinal control algorithm for automated vehicle merging
• Merge algorithms for intelligent vehicles
• OPTIMAL PROGRAMMING PROBLEMS WITH INEQUALITY CONSTRAINTS
• Optimal time trajectory and coordination for connected and automated vehicles

Cited in

(8)

• A decentralized energy-optimal control framework for connected automated vehicles at signal-free intersections
• Decentralized optimal coordination of connected and automated vehicles for multiple traffic scenarios
• Decentralized optimal control of connected automated vehicles at signal-free intersections including comfort-constrained turns and safety guarantees
• Optimal time trajectory and coordination for connected and automated vehicles
• Resilient coordinated movement of connected autonomous vehicles
• Traffic safety evaluation of mixed traffic flow considering the maximum platoon size of connected automated vehicles
• Dynamic optimization techniques for the motion coordination of autonomous vehicles
• A constrained optimal control framework for vehicle platoons with delayed communication

This page was built for publication: Conditions to provable system-wide optimal coordination of connected and automated vehicles

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q2665393)