In this paper, we propose a cooperative motion planning method for a group of connected and automated vehicles (CAVs) crossing a lane-free intersection without using explicit traffic signaling. This multi-vehicle motion planning task is formulated as a centralized optimal control problem. However, the solution to this optimal control problem is numerically intractable due to the high dimensionality of the collision-avoidance constraints and the nonlinearity of the vehicle kinematics. A two-stage strategy is proposed for generating online solutions: at Stage 1, the CAVs are requested to reach a standard formation before entering the intersection; at Stage 2, the vehicles cross the intersection. As the motion planning sub-problem at Stage 2 begins with a standard configuration, the optimal solution to this standard sub-problem can be computed offline in advance and applied online directly. On the other hand, the formation reconfiguration sub-problem at Stage 1 is easy to solve online. Through dividing the entire dynamic process into two periods, the difficulties in the original optimal control problem are significantly reduced so that the real-time performance is achieved.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Near-Optimal Online Motion Planning of Connected and Automated Vehicles at a Signal-Free and Lane-Free Intersection


    Beteiligte:
    Li, Bai (Autor:in) / Zhang, Youmin (Autor:in) / Zhang, Yue (Autor:in) / Jia, Ning (Autor:in) / Ge, Yuming (Autor:in)


    Erscheinungsdatum :

    01.06.2018


    Format / Umfang :

    833558 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    NEAR-OPTIMAL ONLINE MOTION PLANNING OF CONNECTED AND AUTOMATED VEHICLES AT A SIGNAL-FREE AND LANE-FREE INTERSECTION

    Li, Bai / Zhang, Youmin / Zhang, Yue et al. | British Library Conference Proceedings | 2018


    Optimal Path Planning for Connected and Automated Vehicles in Lane-free Traffic

    Yanumula, Venkata Karteek / Typaldos, Panagiotis / Troullinos, Dimitrios et al. | IEEE | 2021


    Integrated Intersection Control for Lane-Free Connected and Automated Driving

    Stueger, Philipp N. / Malcolm, Patrick / Niels, Tanja et al. | IEEE | 2023


    Optimal Trajectory Planning for Connected and Automated Vehicles in Lane-Free Traffic With Vehicle Nudging

    Yanumula, Venkata Karteek / Typaldos, Panagiotis / Troullinos, Dimitrios et al. | IEEE | 2023


    Optimal Motion Control for Connected and Automated Electric Vehicles at Signal-Free Intersections

    Pan, X / Chen, B / Evangelou, S et al. | BASE | 2021

    Freier Zugriff