An Optimal Coordination Framework for Connected and Automated Vehicles in two Interconnected Intersections

Abstract

In this paper, we provide a decentralized optimal control framework for coordinating connected and automated vehicles (CAVs) in two interconnected intersections. We formulate a control problem and provide a solution that can be implemented in real time. The solution yields the optimal acceleration/deceleration of each CAV under the safety constraint at "conflict zones," where there is a chance of potential collision. Our objective is to minimize travel time for each CAV. If no such solution exists, then each CAV solves an energy-optimal control problem. We evaluate the effectiveness of the efficiency of the proposed framework through simulation.

arXiv comment8 pages, 5 figures, IEEE CONFERENCE ON CONTROL TECHNOLOGY AND APPLICATIONS 2019

References in corpus (5)

• 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
• Semi-autonomous Intersection Collision Avoidance through Job-shop Scheduling
• Energy-Optimal Coordination of Connected and Automated Vehicles at Multiple Intersections
• An Optimal Coordination Framework for Connected and Automated Vehicles in two Interconnected Intersections

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• An Optimal Coordination Framework for Connected and Automated Vehicles in two Interconnected Intersections
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• Beyond Reynolds: A Constraint-Driven Approach to Cluster Flocking