期刊
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS
卷 23, 期 8, 页码 13330-13345出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TITS.2021.3123479
关键词
Merging; Safety; Optimal control; Scheduling; Optimization; Urban areas; Throughput; Connected and automated vehicles; signal-free intersections; decentralized optimal control; emerging mobility systems; path planning; scheduling
资金
- Advanced Research Projects Agency Energy's (ARPAE's) NEXT-Generation Energy Technologies for Connected and Automated On-Road Vehicles (NEXTCAR) Program [DE-AR0000796]
- Delaware Energy Institute (DEI)
This study proposes a hierarchical coordination framework for connected and automated vehicles at adjacent intersections, optimizing the travel time through intersections by partitioning the area and solving upper and lower-level problems.
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.
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