A Decentralized Energy-Optimal Control Framework for Connected Automated Vehicles at Signal-Free Intersections

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 maximizati...

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Bibliographic Details
Published inarXiv.org
Main Authors Malikopoulos, Andreas A, Cassandras, Christos G, Zhang, Yue J
Format Paper Journal Article
LanguageEnglish
Published Ithaca Cornell University Library, arXiv.org 31.03.2018
Subjects
Automation
Energy conservation
Energy consumption
Exact solutions
Mathematics - Optimization and Control
Maximization
Optimal control
Optimization
Safety
Traffic intersections
Travel time
Online AccessGet full text
ISSN2331-8422
DOI10.48550/arxiv.1602.03786

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Summary: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.
Bibliography:SourceType-Working Papers-1
ObjectType-Working Paper/Pre-Print-1
content type line 50
ISSN:2331-8422
DOI:10.48550/arxiv.1602.03786