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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| Published in | Automatica (Oxford) Vol. 93; pp. 244 - 256 |
|---|---|
| Main Authors | , , |
| Format | Journal Article |
| Language | English |
| Published |
Elsevier Ltd
01.07.2018
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| Subjects | |
| Online Access | Get full text |
| ISSN | 0005-1098 1873-2836 |
| DOI | 10.1016/j.automatica.2018.03.056 |
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| Abstract | 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. |
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| AbstractList | 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. |
| Author | Malikopoulos, Andreas A. Cassandras, Christos G. Zhang, Yue J. |
| Author_xml | – sequence: 1 givenname: Andreas A. surname: Malikopoulos fullname: Malikopoulos, Andreas A. email: andreas@udel.edu organization: Department of Mechanical Engineering, University of Delaware, 126 Spencer Lab, 130 Academy Street, Newark, DE, 19716, USA – sequence: 2 givenname: Christos G. surname: Cassandras fullname: Cassandras, Christos G. email: cgc@bu.edu organization: Division of Systems Engineering and Center for Information and Systems Engineering, Boston University, 15 Saint Mary’s Street, Brookline, MA, 02446, USA – sequence: 3 givenname: Yue J. surname: Zhang fullname: Zhang, Yue J. email: joycez@bu.edu organization: Division of Systems Engineering and Center for Information and Systems Engineering, Boston University, 15 Saint Mary’s Street, Brookline, MA, 02446, USA |
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| Snippet | We address the problem of optimally controlling connected and automated vehicles (CAVs) crossing an urban intersection without any explicit traffic signaling,... |
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| SubjectTerms | Autonomous intersections Connected and automated vehicles Decentralized optimal control Energy usage Motion planning Safety Traffic flow |
| Title | A decentralized energy-optimal control framework for connected automated vehicles at signal-free intersections |
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