In this paper, we provide a hierarchical coordination framework for connected and automated vehicles (CAVs) at two adjacent intersections. This framework consists of an upper-level scheduling problem and a low-level optimal control problem. By partitioning the area around two adjacent intersections into different zones, we formulate a scheduling problem for each individual CAV aimed at minimizing its total travel time. For each CAV, the solution of the upper-level problem designates the arrival times at each zones on its path which becomes the inputs of the low-level problem. The solution of the low-level problem yields the optimal control input (acceleration/deceleration) of each CAV to exit the intersections at the time specified in the upper-level scheduling problem. We validate the performance of our proposed hierarchical framework through extensive numerical simulations and comparison with signalized intersections, centralized scheduling, and FIFO queuing policy.
Time-Optimal Coordination for Connected and Automated Vehicles at Adjacent Intersections
IEEE Transactions on Intelligent Transportation Systems ; 23 , 8 ; 13330-13345
2022-08-01
1845506 byte
Article (Journal)
Electronic Resource
English
Optimisation-based coordination of connected, automated vehicles at intersections
Taylor & Francis Verlag | 2020
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|Taylor & Francis Verlag | 2018
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