论文标题
多车道交叉口中连接和自动化车辆的分散式安全控制的一般框架
A General Framework for Decentralized Safe Optimal Control of Connected and Automated Vehicles in Multi-Lane Intersections
论文作者
论文摘要
我们解决了最佳控制连接和自动化车辆（CAVS）的问题，这些车辆（CAV）从四个多车道道路到达的十字路口到达，在没有碰撞的情况下，它们在安全越过（包括转弯）方面发生冲突。目的是在确保安全的同时共同最大程度地减少每个CAV的旅行时间和能耗。在单车道的先前工作中解决了这个问题。每条道路上多个车道的直接扩展受到获得明确最佳控制解决方案所需的计算复杂性的限制。取而代之的是，我们提出了一个通用框架，该框架首先将多车道的交叉路口问题转换为每个CAV的分散最佳控制问题，而与先前的工作相比，保守的安全限制较小。然后，我们采用一种结合最佳控制和控制屏障功能的方法，该方法已被证明可以有效地跟踪可拖动的无约束的最佳CAV轨迹，同时还可以保证所有约束的满意度。包括模拟示例，以显示在对称和非对称交叉几何形状和用于CAV测序的不同方案下所提出的框架的有效性。
We address the problem of optimally controlling Connected and Automated Vehicles (CAVs) arriving from four multi-lane roads at an intersection where they conflict in terms of safely crossing (including turns) with no collision. The objective is to jointly minimize the travel time and energy consumption of each CAV while ensuring safety. This problem was solved in prior work for single-lane roads. A direct extension to multiple lanes on each road is limited by the computational complexity required to obtain an explicit optimal control solution. Instead, we propose a general framework that first converts a multi-lane intersection problem into a decentralized optimal control problem for each CAV with less conservative safety constraints than prior work. We then employ a method combining optimal control and control barrier functions, which has been shown to efficiently track tractable unconstrained optimal CAV trajectories while also guaranteeing the satisfaction of all constraints. Simulation examples are included to show the effectiveness of the proposed framework under symmetric and asymmetric intersection geometries and different schemes for CAV sequencing.
