Time-Optimal Coordination for Connected and Automated Vehicles at Adjacent Intersections

In this paper, we provide a hierarchical coordination framework for connected and automated vehicles (CAVs) at two adjacent intersections. This framework consists of an upper-level scheduling problem and a low-level optimal control problem. By partitioning the area around two adjacent intersections...

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Bibliographic Details
Published in:IEEE transactions on intelligent transportation systems 2022-08, Vol.23 (8), p.13330-13345
Main Authors: Chalaki, Behdad, Malikopoulos, Andreas A.
Format: Article
Language:English
Subjects:
Acceleration
Connected and automated vehicles
Coordination
Deceleration
decentralized optimal control
emerging mobility systems
Intersections
Merging
Optimal control
Optimization
path planning
Queueing
Safety
Scheduling
signal-free intersections
Throughput
Time optimal control
Travel time
Urban areas
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Summary:In this paper, we provide a hierarchical coordination framework for connected and automated vehicles (CAVs) at two adjacent intersections. This framework consists of an upper-level scheduling problem and a low-level optimal control problem. By partitioning the area around two adjacent intersections into different zones, we formulate a scheduling problem for each individual CAV aimed at minimizing its total travel time. For each CAV, the solution of the upper-level problem designates the arrival times at each zones on its path which becomes the inputs of the low-level problem. The solution of the low-level problem yields the optimal control input (acceleration/deceleration) of each CAV to exit the intersections at the time specified in the upper-level scheduling problem. We validate the performance of our proposed hierarchical framework through extensive numerical simulations and comparison with signalized intersections, centralized scheduling, and FIFO queuing policy.
ISSN:1524-9050
1558-0016
DOI:10.1109/TITS.2021.3123479