Dynamic programming-based multi-vehicle longitudinal trajectory optimization with simplified car following models
Dynamic programming-based multi-vehicle longitudinal trajectory optimization with simplified car following models
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DOI：
10.1016/j.trb.2017.10.012
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发表时间：
2017-12
影响因子：
6.8
通讯作者：
Yuguang Wei;C. Avci;C. Avci;C. Avci;Jiangtao Liu;Baloka Belezamo;Baloka Belezamo;N. Aydin;P. Li;Xuesong Zhou
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文献类型：
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作者：
Yuguang Wei;C. Avci;C. Avci;C. Avci;Jiangtao Liu;Baloka Belezamo;Baloka Belezamo;N. Aydin;P. Li;Xuesong Zhou
联合优化多车辆轨迹是自动互联车辆下一代交通系统的一项关键任务。基于时空格，我们提出了一组整数规划和动态规划纵向轨迹调度模型，其目标是在各种通信技术的支持下同时考虑系统范围内的安全和吞吐量需求。采用Newell的简化线性跟车模型来描述车辆之间的相互作用和避碰，并引入随时间变化的排级反应时间控制变量来反映车辆与车辆或车辆与基础设施之间不同程度的通信连通。通过调整每一时间步的领先车辆速度和排级反应时间，所提出的优化模型可以有效地控制沿交通反向传播波的一排完整的轨迹。这种简约的多车辆状态表示法为在容量瓶颈处形成紧凑和自适应的车辆排提供了新的线索。我们考察了在不同耦合条件下最优性条件的原理和由此产生的计算复杂性。
Jointly optimizing multi-vehicle trajectories is a critical task in the next-generation transportation system with autonomous and connected vehicles. Based on a space-time lattice, we present a set of integer programming and dynamic programming models for scheduling longitudinal trajectories, where the goal is to consider both system-wide safety and throughput requirements under supports of various communication technologies. Newell's simplified linear car following model is used to characterize interactions and collision avoidance between vehicles, and a control variable of time-dependent platoon-level reaction time is introduced in this study to reflect various degrees of vehicle-to-vehicle or vehicle-to-infrastructure communication connectivity. By adjusting the lead vehicle's speed and platoon-level reaction time at each time step, the proposed optimization models could effectively control the complete set of trajectories in a platoon, along traffic backward propagation waves. This parsimonious multi-vehicle state representation sheds new lights on forming tight and adaptive vehicle platoons at a capacity bottleneck. We examine the principle of optimality conditions and resulting computational complexity under different coupling conditions.