Polling-systems-based control of high-performance provably-safe autonomous intersections

Miculescu, David; Karaman, Sertaç

doi:10.1109/cdc.2014.7039600

Cited by 45 publications

(40 citation statements)

References 19 publications

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“…In addition, note that the position p i (t) and speed v i (t) are continuous functions of t. Combining the equations above and recalling from (13)…”

Section: Constrained Optimal Control Analysismentioning

confidence: 94%

“…Since then, numerous research efforts have explored efficient and safe control strategies, e.g., [5]- [7]. Some of the efforts focused on minimizing travel delays with safety guarantees [8]- [13]. Lee and Park [12] aimed at minimizing the overlap between vehicle positions.…”

Section: Introductionmentioning

confidence: 99%

“…Lee and Park [12] aimed at minimizing the overlap between vehicle positions. Miculescu and Karaman [13] have studied intersections as polling systems and determined a sequence of times assigned to vehicles on each road. Reducing energy consumption is another desired objective which has been considered in recent literature [14]- [17].…”

Section: Introductionmentioning

confidence: 99%

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

Zhang

Cassandras

2019

2019 IEEE 58th Conference on Decision and Control (CDC)

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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. arXiv:1903.05692v3 [math.OC]

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“…In addition, note that the position p i (t) and speed v i (t) are continuous functions of t. Combining the equations above and recalling from (13)…”

Section: Constrained Optimal Control Analysismentioning

confidence: 94%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

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

Zhang

Cassandras

2019

2019 IEEE 58th Conference on Decision and Control (CDC)

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show abstract

“…where γ = γ1 2γ2 . Note that (18) and (20) are constraints applied to the terminal time t m i . In order to efficiently obtain analytical solutions on line, we proceed with a two-step approach.…”

Section: A Problem Decompositionmentioning

confidence: 99%

“…Since then, numerous research efforts have explored safe and efficient control strategies, e.g., [12]- [14]. Several efforts have focused on minimizing vehicle travel time under collision-avoidance constraints [15]- [20]. Zohdy et al [18] presented an approach based on Cooperative Adaptive Cruise Control (CACC) for minimizing intersection delay and hence maximizing the throughput.…”

Section: Introductionmentioning

confidence: 99%

Decentralized optimal control of Connected Automated Vehicles at signal-free intersections including comfort-constrained turns and safety guarantees

Yue

Cassandras

2019

Automatica

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We extend earlier work for optimally controlling Connected Automated Vehicles (CAVs) crossing a signal-free intersection by including all possible turns taken so as to optimize a passenger comfort metric along with energy and travel time minimization. We show that it is possible to achieve this goal in a decentralized manner with each CAV solving an optimal control problem, and derive explicit solutions that guarantee collision avoidance and safe distance constraints within a control zone. We investigate the associated tradeoffs between minimizing energy and vehicle travel time, as well as the passenger comfort metric and include extensive simulations to illustrate this framework.

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Experimental validation of a semi‐distributed sequential quadratic programming method for optimal coordination of automated vehicles at intersections

Hult

Zanon

Frison

et al. 2020

Optim Control Appl Methods

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SummaryIn this article, we study the optimal coordination of automated vehicles at intersections. The problem can be stated as an optimal control problem (OCP), which can be decomposed as a bi‐level scheme composed by one nonlinear program (NLP) which schedules the access to the intersection and one OCP per vehicle which computes the appropriate vehicle commands. We discuss a practical implementation of the bi‐level controller where the NLP is solved with a tailored semi‐distributed sequential quadratic programming (SQP) algorithm that enables distribution of most computation to the vehicles. Results from an extensive experimental campaign are presented, where the bi‐level controller and the semi‐distributed SQP are implemented on a test setup consisting of three automated vehicles. In particular, we show that the vehicle‐level controller can enforce the scheduled intersection access beyond the accuracy admitted by the sensor system, and that the bi‐level controller can handle large perturbations and large communication delays, which makes the scheme applicable in practical scenarios. Finally, the use of wireless communication introduces delays in the outer control loop. To allow faster feedback, we introduce a real‐time iteration (RTI) like variation of the bi‐level controller. Experimental and simulated results indicate that the RTI‐like variation offers comparable performance using less computation and communication.

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Polling-systems-based control of high-performance provably-safe autonomous intersections

Cited by 45 publications

References 19 publications

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

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

Decentralized optimal control of Connected Automated Vehicles at signal-free intersections including comfort-constrained turns and safety guarantees

Experimental validation of a semi‐distributed sequential quadratic programming method for optimal coordination of automated vehicles at intersections

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