Decentralized Time and Energy-Optimal Control of Connected and Automated Vehicles in a Roundabout With Safety and Comfort Guarantees

The authors consider the problem of controlling Connected and Automated Vehicles (CAVs) traveling through a roundabout so as to jointly minimize their travel time, energy consumption, and centrifugal discomfort while providing speed-dependent and lateral roll-over safety guarantees, as well as satisfying velocity and acceleration constraints. They first develop a systematic approach to determine the safety constraints for each CAV dynamically, as it moves through different merging points in the roundabout. They then derive the unconstrained optimal control solution which is subsequently optimally tracked by a real-time controller while guaranteeing that all constraints are always satisfied. Simulation experiments are performed to compare the controller they develop to a baseline of human-driven vehicles, showing its effectiveness under symmetric and asymmetric roundabout configurations, balanced and imbalanced traffic rates, and different sequencing rules for CAVs.

• Record URL:
  http://dx.doi.org/10.1109/TITS.2022.3216794
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/oclc/41297384
• Supplemental Notes:
  • Copyright © 2023, IEEE.
• Authors:
  • Xu, Kaiyuan
  • Cassandras, Christos G
  • Xiao, Wei
• Publication Date: 2023-1

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 657-672
• Serial:
  • IEEE Transactions on Intelligent Transportation Systems
  • Volume: 24
  • Issue Number: 1
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
  • ISSN: 1524-9050
  • Serial URL: http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6979

Subject/Index Terms

• TRT Terms: Automated vehicle control; Autonomous vehicles; Centrifugal force; Connected vehicles; Roundabouts; Vehicle safety
• Subject Areas: Data and Information Technology; Highways; Operations and Traffic Management; Vehicles and Equipment;

Filing Info

• Accession Number: 01883676
• Record Type: Publication
• Files: TRIS
• Created Date: May 25 2023 5:41PM