Optimal Control and Coordination of Connected and Automated Vehicles at Urban Traffic Intersections

Abstract

We address the problem of coordinating online a continuous flow of connected and automated vehicles (CAVs) crossing two adjacent intersections in an urban area. We present a decentralized optimal control framework whose solution yields for each vehicle the optimal acceleration/deceleration at any time in the sense of minimizing fuel consumption. The solu- tion, when it exists, allows the vehicles to cross the intersections without the use of traffic lights, without creating congestion on the connecting road, and under the hard safety constraint of collision avoidance. The effectiveness of the proposed solution is validated through simulation considering two intersections located in downtown Boston, and it is shown that coordination of CAVs can reduce significantly both fuel consumption and travel time.

6 pages, 4 figures

References in corpus (1)

• Optimal Control and Coordination of Connected and Automated Vehicles at Urban Traffic Intersections

Cited by in corpus (12)

• A Decentralized Energy-Optimal Control Framework for Connected Automated Vehicles at Signal-Free Intersections
• Optimal Control and Coordination of Connected and Automated Vehicles at Urban Traffic Intersections
• Hybrid Reinforcement Learning-Based Eco-Driving Strategy for Connected and Automated Vehicles at Signalized Intersections
• Autonomous and Semi-Autonomous Intersection Management: A Survey
• Energy-Efficient Driving in Connected Corridors via Minimum Principle Control: Vehicle-in-the-Loop Experimental Verification in Mixed Fleets
• Deep Reinforcement-Learning-based Driving Policy for Autonomous Road Vehicles
• Pay for Intersection Priority: A Free Market Mechanism for Connected Vehicles
• Multi-Intersection Traffic Management for Autonomous Vehicles via Distributed Mixed Integer Linear Programming
• Personalized Pareto-Improving Pricing-and-Routing Schemes for Near-Optimum Freight Routing: An Alternative Approach to Congestion Pricing
• Energy-Optimal Coordination of Connected and Automated Vehicles at Multiple Intersections
• An Optimal Coordination Framework for Connected and Automated Vehicles in two Interconnected Intersections
• Optimal Vehicle Dynamics and Powertrain Control for Connected and Automated Vehicles