A General Framework for Decentralized Safe Optimal Control of Connected and Automated Vehicles in Multi-Lane Signal-Free Intersections

doi:10.1109/TITS.2022.3151080

CORC > 自动化研究所 > 中国科学院自动化研究所 > 模式识别国家重点实验室 > 三维可视计算

	A General Framework for Decentralized Safe Optimal Control of Connected and Automated Vehicles in Multi-Lane Signal-Free Intersections
	Xu, Huile 1,3,4,5; Xiao, Wei 3,4; Cassandras, Christos G.3,4; Zhang, Yi 1,2; Li, Li 1
刊名	IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
	2022-02-23
页码	15
关键词	Optimal control Safety Trajectory Roads Vehicle dynamics Optimization Automation Connected and automated vehicles (CAVs) optimal control control barrier function (CBF)
ISSN号	1524-9050
DOI	10.1109/TITS.2022.3151080
通讯作者	Zhang, Yi(zhyi@tsinghua.edu.cn) ; Li, Li(li-li@tsinghua.edu.cn)
英文摘要	We address the problem of optimally controlling Connected and Automated Vehicles (CAVs) arriving from four multi-lane roads at a signal-free intersection where they conflict in terms of safely crossing (including turns) with no collision. The objective is to jointly minimize the travel time and energy consumption of each CAV while ensuring safety. This problem was solved in prior work for single-lane roads. A direct extension to multiple lanes on each road is limited by the computational complexity required to obtain an explicit optimal control solution. Instead, we propose a general framework that first converts a multi-lane intersection problem into a decentralized optimal control problem for each CAV with less conservative safety constraints than prior work. We then employ a method combining optimal control and control barrier functions, which has been shown to efficiently track tractable unconstrained optimal CAV trajectories while also guaranteeing the satisfaction of all constraints. Simulation examples are included to show the effectiveness of the proposed framework under symmetric and asymmetric intersection geometries and different CAV sequencing policies.
资助项目	NSF[ECCS-1509084] ; NSF[DMS-1664644] ; NSF[CNS-1645681] ; NSF[IIS-1723995] ; NSF[CPS-1446151] ; Air Force Office of Scientific Research (AFOSR)[FA9550-19-1-0158] ; Advanced Research Projects Agency-Energy (ARPA-E)[DE-AR0001282] ; National Key Research and Development Program of China[2018YFB1600600] ; MathWorks
WOS研究方向	Engineering ; Transportation
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000761254500001
资助机构	NSF ; Air Force Office of Scientific Research (AFOSR) ; Advanced Research Projects Agency-Energy (ARPA-E) ; National Key Research and Development Program of China ; MathWorks
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/47876]
专题	模式识别国家重点实验室_三维可视计算
通讯作者	Zhang, Yi; Li, Li
作者单位	1.Tsinghua Univ, Dept Automat, BNRist, Beijing 100084, Peoples R China 2.Tsinghua Berkeley Shenzhen Inst TBSI, Shenzhen 518055, Peoples R China 3.Boston Univ, Ctr Informat & Syst Engn, Brookline, MA 02446 USA 4.Boston Univ, Div Syst Engn, Brookline, MA 02446 USA 5.Chinese Acad Sci, Inst Automat, Natl Lab Pattern Recognit, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Xu, Huile,Xiao, Wei,Cassandras, Christos G.,et al. A General Framework for Decentralized Safe Optimal Control of Connected and Automated Vehicles in Multi-Lane Signal-Free Intersections[J]. IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS,2022:15.
APA	Xu, Huile,Xiao, Wei,Cassandras, Christos G.,Zhang, Yi,&Li, Li.(2022).A General Framework for Decentralized Safe Optimal Control of Connected and Automated Vehicles in Multi-Lane Signal-Free Intersections.IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS,15.
MLA	Xu, Huile,et al."A General Framework for Decentralized Safe Optimal Control of Connected and Automated Vehicles in Multi-Lane Signal-Free Intersections".IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS (2022):15.