Pan, X;
Chen, B;
Dai, L;
Timotheou, S;
Evangelou, S;
(2021)
Decentralized Model Predictive Control for Automated and Connected Electric Vehicles at Signal-free Intersections.
In:
Proceedings of the 60th IEEE Conference on Decision and Control (CDC 2021).
IEEE: Austin, TX, USA.
(In press).
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Abstract
The development of connected and automated vehicles (CAVs) enables improvements in the safety, smoothness, and energy efficiency of the road transportation systems. This paper addresses the problem of optimally controlling batteryelectric CAVs crossing an unsignalized intersection subject to a first-in-first-out crossing policy. The optimal velocity trajectory of each vehicle that minimizes the average energy consumption and travel time, is found by a decentralized model predictive control (DMPC) method via a convex modeling framework so as to ensure computational efficiency and the optimality of the solution. Numerical examples and comparisons with a centralized control counterpart demonstrate the effectiveness of the proposed decentralized coordination scheme and the trade-off between energy consumption and travel time. Further investigation into the size of the sampling interval is also provided in order to show the validity of the method in practice.
| Type: | Proceedings paper |
|---|---|
| Title: | Decentralized Model Predictive Control for Automated and Connected Electric Vehicles at Signal-free Intersections |
| Event: | 60th IEEE Conference on Decision and Control (CDC 2021) |
| Dates: | 13 December 2021 - 15 December 2021 |
| Open access status: | An open access version is available from UCL Discovery |
| Publisher version: | https://2021.ieeecdc.org/ |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices 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/10131957 |
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