A decentralized energy-optimal control framework for connected automated vehicles at signal-free intersections
A decentralized energy-optimal control framework for connected automated vehicles at signal-free intersections
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DOI：
10.1016/j.automatica.2018.03.056
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发表时间：
2016-02
期刊：
影响因子：
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通讯作者：
Andreas A. Malikopoulos;C. Cassandras;Yue J. Zhang
中科院分区：
文献类型：
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作者：
Andreas A. Malikopoulos;C. Cassandras;Yue J. Zhang
我们解决的问题，最佳控制连接和自动驾驶车辆（CAV）穿越城市交叉口没有任何明确的交通信号，以尽量减少能源消耗的吞吐量最大化的要求。我们表明，吞吐量最大化问题的解决方案只依赖于硬安全约束的CAV和它的结构，使一个分散的最优控制问题制定能量最小化。我们提出了一个完整的分析解决方案，这些分散的问题，并得出条件下，满足所有安全约束的可行的解决方案总是存在的。所提出的解决方案的有效性说明通过模拟，它显示了大量的双重好处的建议分散的框架，允许CAV保存的势头和燃料，同时也提高了旅行时间。
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.