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Optimal Control for Connected and Autonomous Vehicles at Signal-Free Intersections

Chen, B; Pan, X; Evangelou, S; Timotheou, S; (2020) Optimal Control for Connected and Autonomous Vehicles at Signal-Free Intersections. In: Proceedings of the 21st IFAC World Congress. (pp. pp. 15306-15311). Elsevier Green open access

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Abstract

The development of connected and autonomous vehicles (CAVs) is one of the central aspects in the pathway towards future intelligent mobility systems. This paper addresses the problem of coordinating CAVs crossing an uncontrolled intersection so as to maintain safe and efficient traffic flow. The proposed control strategy is based on an optimal control framework that is formulated to minimize a weighted sum of total energy consumption and travel time of all CAVs by finding the optimal velocity trajectory of each vehicle. The design procedure starts with a proper formulation of the autonomous intersection crossing problem for CAVs, with various cases of energy recovery capability by the CAVs considered, to also investigate the influence of powertrain electrification on the intersection crossing problem. This yields an optimal control problem (OCP) with nonlinear and nonconvex dynamics and constraints. In order to ensure a rapid solution search and a unique global optimum, the OCP is reformulated via convex modeling techniques. Numerical results validate the effectiveness of the proposed approaches, while the trade-off between energy consumption and travel time is illustrated by Pareto optimal solutions.

Type: Proceedings paper
Title: Optimal Control for Connected and Autonomous Vehicles at Signal-Free Intersections
Event: 21st IFAC World Congress
Location: Berlin, Germany
Dates: 12 July 2020 - 17 July 2020
Open access status: An open access version is available from UCL Discovery
DOI: 10.1016/j.ifacol.2020.12.2336
Publisher version: https://doi.org/10.1016/j.ifacol.2020.12.2336
Language: English
Additional information: © 2020 The Authors. This is an open access article under the CC BY-NC-ND license. Peer review under responsibility of International Federation of Automatic Control.
Keywords: Connected, autonomous vehicles, Intersections crossing, Energy consumption, Optimization, Velocity control
UCL classification: UCL
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Electronic and Electrical Eng
URI: https://discovery.ucl.ac.uk/id/eprint/10096691
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