Lane-free signal-free intersection crossing via model predictive control

IF 5.4 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS Control Engineering Practice Pub Date : 2024-11-05 DOI:10.1016/j.conengprac.2024.106115
Mehdi Naderi , Panagiotis Typaldos , Markos Papageorgiou
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Abstract

The operation of signal-free intersections, where Connected Automated Vehicles (CAVs) cross simultaneously for all Origin-Destination (OD) movements, has the potential to greatly increase throughput and reduce fuel consumption. Since the intersection crossing areas naturally include no lanes, an extended crossing area, appropriately delineated, can be considered as a lane-free infrastructure so as to enable further efficiency benefits. This paper presents two Model Predictive Control (MPC) schemes to manage CAVs in signal-free and lane-free intersections. In fact, the control inputs of all vehicles are optimized over a time-horizon by online solving of a joint Optimal Control Problem (OCP) that minimizes a cost function including proper terms to ensure smooth and collision-free vehicle motion, while also considering fuel consumption and desired-speed tracking, when possible. Additionally, appropriate constraints are designed to respect the intersection boundaries and ensure smooth vehicle movements towards their respective destinations. A fast Feasible Direction Algorithm (FDA) is employed for the numerical solution of the introduced OCP. Multiple simulations are carried out to assess the efficiency and practicality of the proposed methods. A comparison with signalized intersection operation is provided.
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通过模型预测控制实现无车道无信号交叉口穿越
在无信号灯交叉路口,互联自动驾驶车辆(CAV)可同时穿越所有起点-终点(OD)运动,这有可能大大提高吞吐量并降低油耗。由于交叉路口的交叉区域自然不包括车道,因此可将适当划定的扩展交叉区域视为无车道基础设施,从而进一步提高效率。本文提出了两种模型预测控制(MPC)方案,用于在无信号灯和无车道交叉路口管理 CAV。事实上,所有车辆的控制输入都是通过在线求解联合最优控制问题(OCP)在时间范围内进行优化的,该问题可使成本函数最小化,其中包括适当的条款,以确保车辆运动平稳、无碰撞,同时在可能的情况下还考虑到油耗和理想速度跟踪。此外,还设计了适当的约束条件,以尊重交叉路口的边界,确保车辆平稳地驶向各自的目的地。采用快速可行方向算法(FDA)对引入的 OCP 进行数值求解。为了评估所建议方法的效率和实用性,我们进行了多次模拟。此外,还提供了与信号灯路口运行的比较。
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来源期刊
Control Engineering Practice
Control Engineering Practice 工程技术-工程:电子与电气
CiteScore
9.20
自引率
12.20%
发文量
183
审稿时长
44 days
期刊介绍: Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.
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