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 inAutomatica (Oxford) Vol. 93; pp. 244 - 256
Main Authors Malikopoulos, Andreas A., Cassandras, Christos G., Zhang, Yue J.
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 01.07.2018
Subjects
Autonomous intersections
Connected and automated vehicles
Decentralized optimal control
Energy usage
Motion planning
Safety
Traffic flow
Motion planning
Connected and automated vehicles
Traffic flow
Decentralized optimal control
Safety
Autonomous intersections
Energy usage
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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.
ISSN:0005-1098
1873-2836
DOI:10.1016/j.automatica.2018.03.056