Decentralized optimal control of Connected Automated Vehicles at signal-free intersections including comfort-constrained turns and safety guarantees

• Autores: Yue Zhang, Christos G. Cassandras
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Nº. 109, 2019
• Idioma: inglés
• DOI: 10.1016/j.automatica.2019.108563
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• Resumen

  • We extend earlier work for optimally controlling Connected Automated Vehicles (CAVs) crossing a signal-free intersection by including all possible turns taken so as to optimize a passenger comfort metric along with energy and travel time minimization. We show that it is possible to achieve this goal in a decentralized manner with each CAV solving an optimal control problem, and derive explicit solutions that guarantee collision avoidance and safe distance constraints within a control zone. We investigate the associated tradeoffs between minimizing energy and vehicle travel time, as well as the passenger comfort metric and include extensive simulations to illustrate this framework.