Decentralized Optimal Control for Connected Automated Vehicles at Intersections Including Left and Right Turns

arXiv1703.06956MaRDI QIDQ6284583FDOQ6284583

Authors: Yue Zhang, Andreas A. Malikopoulos, Christos G. Cassandras 

Publication date: 20 March 2017

Abstract: In prior work, we addressed the problem of optimally controlling on line connected and automated vehicles crossing two adjacent intersections in an urban area to minimize fuel consumption while achieving maximal throughput without any explicit traffic signaling and without considering left and right turns. In this paper, we extend the solution of this problem to account for left and right turns under hard safety constraints. Furthermore, we formulate and solve another optimization problem to minimize a measure of passenger discomfort while the vehicle turns at the intersection and we investigate the associated tradeoff between minimizing fuel consumption and passenger discomfort.

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