We derive optimal control policies for a Connected Automated Vehicle (CAV) cooperating with neighboring CAVs in order to implement a lane change maneuver consisting of a longitudinal phase where the CAV properly positions itself relative to the cooperating neighbors and a lateral phase where it safely changes lanes. For the first phase, we optimize the maneuver time subject to safety constraints and subsequently minimize the associated surrogate energy consumption of all cooperating vehicles in this maneuver. For the second phase, we jointly optimize time and energy approximation and provide three different solution methods including a real-time approach based on Control Barrier Functions (CBFs). We prove structural properties of the optimal policies which simplify the solution derivations and, in the case of the longitudinal maneuver, lead to analytical optimal control expressions. The solutions, when they exist, are guaranteed to satisfy safety constraints for all vehicles involved in the maneuver. Simulation results where the controllers are implemented show their effectiveness in terms of significant performance improvements compared to maneuvers performed by human-driven vehicles.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Cooperative Time and Energy-Optimal Lane Change Maneuvers for Connected Automated Vehicles




    Erscheinungsdatum :

    2022-04-01


    Format / Umfang :

    3516385 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Lane Change Maneuvers for Automated Vehicles

    Nilsson, Julia / Brannstrom, Mattias / Coelingh, Erik et al. | IEEE | 2017


    Lane Change Maneuvers for Automated Vehicles

    Nilsson, Julia | Online Contents | 2017


    Lane Change Maneuvers for Automated Vehicles

    Nilsson, Julia | Online Contents | 2016


    Lane Change and Merge Maneuvers for Connected and Automated Vehicles: A Survey

    Bevly, David / Cao, Xiaolong / Gordon, Mikhail et al. | IEEE | 2016


    Sequential Cooperative Energy and Time-Optimal Lane Change Maneuvers for Highway Traffic

    Chavez Armijos, Andres S. / Chen, Rui / Cassandras, Christos G. et al. | IEEE | 2022