Optimal Motion Planning of Connected and Automated Vehicles at Signal-Free Intersections with State and Control Constraints
This paper presents the optimal motion planning problem for connected and automated vehicles (CAVs) to cross a conflict area at an intersection with state and control constraints. First, we formulate the scheduled merging (or crossing) time for all CAVs as a mixed integer linear programming (MILP) p...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Taylor & Francis Group
2020-03-01
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| Series: | SICE Journal of Control, Measurement, and System Integration |
| Subjects: | |
| Online Access: | http://dx.doi.org/10.9746/jcmsi.13.30 |
| _version_ | 1797660985257885696 |
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| author | Mohamad Hafizulazwan Mohamad Nor Toru Namerikawa |
| author_facet | Mohamad Hafizulazwan Mohamad Nor Toru Namerikawa |
| author_sort | Mohamad Hafizulazwan Mohamad Nor |
| collection | DOAJ |
| description | This paper presents the optimal motion planning problem for connected and automated vehicles (CAVs) to cross a conflict area at an intersection with state and control constraints. First, we formulate the scheduled merging (or crossing) time for all CAVs as a mixed integer linear programming (MILP) problem where the merging time is solved frequently. Second, we formulate the optimal motion planning problem so that the CAVs can achieve their scheduled merging time as well as minimizing the energy consumption. Since we solve the motion planning problem analytically, not all the solutions are feasible to comply with the frequently updated merging time. To solve this problem, we propose a feasibility enforcement period (FEP). Then, we validate the proposed solution through simulation, and the results show that even the merging time is frequently updated, the CAVs can still achieve the merging time with a minimal deviation. Besides, our proposed framework also shows a significant improvement in terms of travel time as compared to the conventional one. |
| first_indexed | 2024-03-11T18:38:51Z |
| format | Article |
| id | doaj.art-7ff08f98a7344d3da78e832df920ecfc |
| institution | Directory Open Access Journal |
| issn | 1884-9970 |
| language | English |
| last_indexed | 2024-03-11T18:38:51Z |
| publishDate | 2020-03-01 |
| publisher | Taylor & Francis Group |
| record_format | Article |
| series | SICE Journal of Control, Measurement, and System Integration |
| spelling | doaj.art-7ff08f98a7344d3da78e832df920ecfc2023-10-12T13:43:55ZengTaylor & Francis GroupSICE Journal of Control, Measurement, and System Integration1884-99702020-03-01132303910.9746/jcmsi.13.3012103281Optimal Motion Planning of Connected and Automated Vehicles at Signal-Free Intersections with State and Control ConstraintsMohamad Hafizulazwan Mohamad Nor0Toru Namerikawa1Graduate School of Science and Technology, Keio UniversityDepartment of System Design Engineering, Keio UniversityThis paper presents the optimal motion planning problem for connected and automated vehicles (CAVs) to cross a conflict area at an intersection with state and control constraints. First, we formulate the scheduled merging (or crossing) time for all CAVs as a mixed integer linear programming (MILP) problem where the merging time is solved frequently. Second, we formulate the optimal motion planning problem so that the CAVs can achieve their scheduled merging time as well as minimizing the energy consumption. Since we solve the motion planning problem analytically, not all the solutions are feasible to comply with the frequently updated merging time. To solve this problem, we propose a feasibility enforcement period (FEP). Then, we validate the proposed solution through simulation, and the results show that even the merging time is frequently updated, the CAVs can still achieve the merging time with a minimal deviation. Besides, our proposed framework also shows a significant improvement in terms of travel time as compared to the conventional one.http://dx.doi.org/10.9746/jcmsi.13.30connected and automated vehicles (cavs)autonomous intersectionsoptimal schedulingoptimal motion planning |
| spellingShingle | Mohamad Hafizulazwan Mohamad Nor Toru Namerikawa Optimal Motion Planning of Connected and Automated Vehicles at Signal-Free Intersections with State and Control Constraints SICE Journal of Control, Measurement, and System Integration connected and automated vehicles (cavs) autonomous intersections optimal scheduling optimal motion planning |
| title | Optimal Motion Planning of Connected and Automated Vehicles at Signal-Free Intersections with State and Control Constraints |
| title_full | Optimal Motion Planning of Connected and Automated Vehicles at Signal-Free Intersections with State and Control Constraints |
| title_fullStr | Optimal Motion Planning of Connected and Automated Vehicles at Signal-Free Intersections with State and Control Constraints |
| title_full_unstemmed | Optimal Motion Planning of Connected and Automated Vehicles at Signal-Free Intersections with State and Control Constraints |
| title_short | Optimal Motion Planning of Connected and Automated Vehicles at Signal-Free Intersections with State and Control Constraints |
| title_sort | optimal motion planning of connected and automated vehicles at signal free intersections with state and control constraints |
| topic | connected and automated vehicles (cavs) autonomous intersections optimal scheduling optimal motion planning |
| url | http://dx.doi.org/10.9746/jcmsi.13.30 |
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