Joint Time and Energy-Optimal Control of Connected Automated Vehicles at Signal-Free Intersections with Speed-Dependent Safety Guarantees

被引：0
|
作者：
Zhang, Yue [1 ,2 ]
Cassandras, Christos G. [1 ,2 ]
机构：
[1] Boston Univ, Div Syst Engn, Boston, MA 02215 USA
[2] Boston Univ, Ctr Informat & Syst Engn, Boston, MA 02215 USA
来源：
2019 IEEE 58TH CONFERENCE ON DECISION AND CONTROL (CDC) | 2019年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We extend earlier work establishing a framework for optimally controlling Connected Automated Vehicles (CAVs) crossing a signal-free intersection by jointly optimizing energy and travel time. We derive explicit optimal control solutions in a decentralized manner that guarantee both a speed-dependent rear-end safety constraint and a time-dependent lateral collision constraint, in addition to lower/upper bounds on speed and acceleration. Extensive simulation examples are included to illustrate this framework.
引用
收藏
页码：329 / 334
页数：6
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