A CAV Platoon Control Method for Isolated Intersections: Guaranteed Feasible Multi-Objective Approach with Priority

Abstract

This paper proposed a multi-objective guaranteed feasible connected and autonomous vehicle (CAV) platoon control method for signalized isolated intersections with priorities. Specifically, we prioritized the intersection throughput and traffic efficiency under a pre-defined signal cycle, based on which we minimized fuel consumption and emissions for CAV platoons. Longitudinal safety was also considered as a necessary condition. To handle the aforementioned targets, we firstly designed a vehicular sub-platoon splitting algorithm based on Farkas lemma to accommodate a maximum number of vehicles for each signal green time phase. Secondly, the CAV optimal trajectories control algorithm was designed as a centralized cooperative model predictive control (MPC). Moreover, the optimal control problem was formulated as discrete linear quadratic control problems with constraints with receding predictive horizons, which can be efficiently solved by quadratic programming after reformulation. For rigor, the proofs of the recursive feasibility and asymptotic stability of our proposed predictive control model were provided. For evaluation, the performance of the control algorithm was compared against a non-cooperative distributed CAV control through simulation. It was found that the proposed method can significantly enhance both traffic efficiency and energy efficiency with ensured safety for CAV platoons at urban signalized intersections.

Joint Optimization of Platoon Control and Resource Scheduling in Cooperative Vehicle-Infrastructure System

“…Moreover, models that optimize platoon control multiobjectives have also been published. For example, [25] designed a centralized MPC controller for a platoon at signalized segregated intersections. This controller has three goals: platoon safety, fuel consumption, and intersection throughput.…”

“…where u i (k), i ∈ N , k ∈ K is a data transmission solution of V2I communication, and a i (k), i ∈ N , k ∈ K denotes a control solution of the platoon. To facilitate the solution process, we equivalently convert sub-model (25) to the following form…”

An Intersection Platoon Speed Control Model Considering Traffic Efficiency and Energy Consumption in CVIS

“…Faraj et al [29] proposed an effective and complete platoon-based speed optimization scheme to minimize idle time near signalized intersection. Wang et al [30] considered longitudinal safety and designed a intersection platoon control algorithm, which takes maximizing the efficiency of the intersection capacity within a given green time as the main priority and minimizing emissions as the second priority. Bisht and Shet [31] prioritized platoons according to their proximity to intersection and designed and evaluated an intersection platoon collaboration algorithm based on V2X communication.…”

Cooperative Adaptive Cruise Control Strategy Optimization for Electric Vehicles Based on SA-PSO With Model Predictive Control

“…CACC can solve the time delay. Based on intelligent vehicle path planning and driving behavior planning, the vehicular networking technology and intelligent transportation technology are introduced to establish real-time information interaction between different vehicles in the platoon to achieve the overall optimal driving strategy of the platoon [3], [4].…”