Conditions to Provable System-Wide Optimal Coordination of Connected and Automated Vehicles

Abstract

Connected and automated vehicles (CAVs) provide the most intriguing opportunity to improve energy efficiency, traffic flow, and safety. In earlier work, we addressed the constrained optimal coordination problem of CAVs at different traffic scenarios using Hamiltonian analysis. In this paper, we investigate the properties of the unconstrained problem and provide conditions under which different combination of the state and control constraints become active. We present a condition-based computational framework that improves on the standard iterative solution procedure of the constrained Hamiltonian analysis. Finally, we derive a closed-form analytical solution of the constrained optimal control problem and validate the proposed framework using numerical simulation. The solution can be derived without any recursive steps, and thus it is appropriate for real-time implementation on-board the CAVs.

References in corpus (3)

• Optimal Time Trajectory and Coordination for Connected and Automated Vehicles
• Decentralized Optimal Coordination of Connected and Automated Vehicles for Multiple Traffic Scenarios
• A Decentralized Time- and Energy-Optimal Control Framework for Connected Automated Vehicles: From Simulation to Field Test

Cited by in corpus (6)

• A Research and Educational Robotic Testbed for Real-time Control of Emerging Mobility Systems: From Theory to Scaled Experiments
• Mechanism Design Theory in Control Engineering: A Tutorial and Overview of Applications in Communication, Power Grid, Transportation, and Security Systems
• Virtual Rings on Highways: Traffic Control by Connected Automated Vehicles
• Social Resource Allocation in a Mobility System with Connected and Automated Vehicles: A Mechanism Design Problem
• A Feasibility Analysis at Signal-Free Intersections
• Performance Analysis of Optimally Coordinated Connected and Automated Vehicles in a Mixed Traffic Environment