Decentralized optimal coordination of connected and automated vehicles for multiple traffic scenarios

Connected and automated vehicles (CAVs) provide the most intriguing opportunity to optimize energy consumption and travel time. Several approaches have been proposed in the literature that allow CAVs to coordinate in situations where there is a potential conflict, for example, in signalized intersec...

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Bibliographic Details
Published in:Automatica (Oxford) 2020-07, Vol.117, p.108958, Article 108958
Main Authors: Mahbub, A.M. Ishtiaque, Malikopoulos, Andreas A., Zhao, Liuhui
Format: Article
Language:English
Subjects:
Connected and automated vehicles
Decentralized optimal control
Energy usage
Safety
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Summary:Connected and automated vehicles (CAVs) provide the most intriguing opportunity to optimize energy consumption and travel time. Several approaches have been proposed in the literature that allow CAVs to coordinate in situations where there is a potential conflict, for example, in signalized intersections, merging at roadways and roundabouts, to reduce energy consumption and optimize traffic flow. In this paper, we consider the problem of coordinating CAVs in a corridor consisting of multiple traffic scenarios. We formulate a two-level optimization problem in which we maximize traffic throughput in the upper-level problem, and derive a closed-form analytical solution that yields the optimal control input for each CAV, in terms of fuel consumption, in the low-level problem. We validate the effectiveness of the solution through simulation under 100% CAV penetration rate. Fuel consumption and travel time for the vehicles are significantly reduced compared to a baseline scenario consisting of human-driven vehicles.
ISSN:0005-1098
1873-2836
DOI:10.1016/j.automatica.2020.108958