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Optimal Control of Connected and Automated Vehicles at Multiple Adjacent Intersections

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Document pages: 13 pages

Abstract: In this paper, we establish a decentralized optimal control framework forconnected and automated vehicles (CAVs) crossing multiple adjacent, multi-laneintersections to minimize energy consumption and improve traffic throughput.Our framework consists of two layers of planning. In the upper-level planning,each CAV computes its optimal arrival time at each intersection recursivelyalong with the optimal lane to improve the traffic throughput. In the low-levelplanning, we formulate an energy-optimal control problem with interior-pointconstraints, the solution of which yields the optimal control input(acceleration deceleration) of each CAV to cross the intersections at the timespecified by the upper-level planning. Moreover, we extend the results of theproposed bi-level framework to include a bounded steady-state error in trackingthe optimal position of the CAVs. Finally, we demonstrate the effectiveness ofthe proposed framework through simulation and comparison with traditionalsignalized intersections.

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