Developing an Optimal Intersection Control System for Automated Connected Vehicles
Developing an Optimal Intersection Control System for Automated Connected Vehicles
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DOI：
10.1109/tits.2018.2850335
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发表时间：
2019-05-01
影响因子：
8.5
通讯作者：
Rakha, Hesham A.
中科院分区：
文献类型：
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作者：
Bichiou, Youssef;Rakha, Hesham A.
近年来，自动驾驶汽车（AV）正在成为一种现实且可行的选择。因此，大量的研究工作致力于开发用于自动驾驶汽车现场实施的系统和技术。研究人员需要解决的挑战之一是如何优化自动驾驶汽车通过道路交叉口的移动。本文介绍了解决这一需求的尝试。开发的模型是一个受动态约束（即控制车辆运动的常微分方程）和静态约束（即最大可实现速度）约束的优化问题。借助庞特里亚金极小原理，得到了使跳闸时间最小化的解。给定问题参数，公式化问题的解决方案预计将是真正的最优方案，并提供满足前面提到的约束的尽可能低的延迟。该逻辑被模拟并与环岛、停车标志和交通信号控制交叉口的操作进行比较。结果表明，与这三种交叉口控制策略中最好的策略相比，平均可以减少 80% 的延误。这种新逻辑的一个有趣的副产品是车辆燃料消耗和二氧化碳排放量分别减少了 42.5% 和 40%。
In recent years, automated vehicles (AVs) are emerging as a realistic and viable option. Consequently, substantial research efforts are being dedicated to the development of systems and technologies for the field implementation of AVs. One of the challenges researchers need to address is how to optimize the movement of AVs through roadway intersections. In this paper, an attempt to address this need is introduced. The developed model is an optimization problem subjected to dynamical constraints (i.e., ordinary differential equations governing the motion of a vehicle) and static constraints (i.e., maximum achievable velocities). By virtue of Pontryagin's minimum principle, the solution that minimizes the trip time is obtained. Given the problem parameters, the solution to the formulated problem is expected to be the true optimum and delivers the lowest possible delay that satisfies the previously mentioned constraints. This logic is simulated and compared with the operation of a roundabout, a stop sign, and a traffic signal-controlled intersection. The results demonstrate that an 80% reduction in delay is achievable compared with the best of these three intersection control strategies, on average. An interesting byproduct of this new logic is a reduction in vehicular fuel consumption and CO2 emissions by 42.5% and 40%, respectively.