This article considers the energy optimization problem with multiple time window constraints, which is motivated by the eco-driving of connected and automated vehicles (CAVs) in urban traffic. Timely crossing of signalized intersections defines complex spatio-temporal constraints, and multiple available open time windows introduce the discontinuous feasible domains of crossing times. The CAVs should select an open time window for each intersection, determine the crossing times, and optimize the speed profiles accordingly, which turns out to be a hard-to-solve optimization problem. To address this challenge, this article proposes a unifying approach that transforms the energy optimization problem into a novel mixed-integer optimal control problem with characteristic time (MIOCP-CT) constraints. This approach facilitates the simultaneous optimization of open time windows, crossing times, and speed profiles within a single optimization problem, which can be solved by our proposed novel numerical solution procedure. The application of the proposed method in the eco-driving of CAVs approaching multiple signalized intersections demonstrates its performance within real-world urban driving cycles. The experimental results of the hardware-in-the-loop (HiL) demonstrate a superior energy-saving performance of 5.83% compared to existing methods, while also achieving real-time feasibility within 100 ms.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Mixed-Integer Optimal Control With Disjunctive Characteristic Time Constraints for Energy-Optimal Speed Planning


    Contributors:
    Dong, Shiying (author) / Chen, Hong (author) / Luo, Xi (author) / Meng, Xiangyu (author) / Huang, Yanjun (author) / Liu, Qifang (author) / Gao, Bingzhao (author)


    Publication date :

    2025-08-01


    Size :

    2006945 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    ICAS2014_0495: GENERATION OF INITIAL GUESSES FOR OPTIMAL CONTROL PROBLEMS WITH MIXED INTEGER DEPENDENT CONSTRAINTS

    Rieck, M. / Richter, M. / Bittner, M. et al. | British Library Conference Proceedings | 2014


    Lexicographic Mixed-Integer Motion Planning with STL Constraints

    Halder, Patrick / Christ, Fabian / Althoff, Matthias | IEEE | 2023


    Optimal trajectory planning for trains using mixed integer linear programming

    Yihui Wang, / De Schutter, B. / Bin Ning, et al. | IEEE | 2011