A CAV Platoon Control Method for Isolated Intersections: Guaranteed Feasible Multi-Objective Approach with Priority

Chen Wang, Yulu Dai and Jingxin Xia
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Chen Wang: Intelligent Transportation Systems Research Center, Southeast University, Nanjing 211189, China
Yulu Dai: Intelligent Transportation Systems Research Center, Southeast University, Nanjing 211189, China
Jingxin Xia: Intelligent Transportation Systems Research Center, Southeast University, Nanjing 211189, China

Energies, 2020, vol. 13, issue 3, 1-16

Abstract: This paper proposed a multi-objective guaranteed feasible connected and autonomous vehicle (CAV) platoon control method for signalized isolated intersections with priorities. Specifically, we prioritized the intersection throughput and traffic efficiency under a pre-defined signal cycle, based on which we minimized fuel consumption and emissions for CAV platoons. Longitudinal safety was also considered as a necessary condition. To handle the aforementioned targets, we firstly designed a vehicular sub-platoon splitting algorithm based on Farkas lemma to accommodate a maximum number of vehicles for each signal green time phase. Secondly, the CAV optimal trajectories control algorithm was designed as a centralized cooperative model predictive control (MPC). Moreover, the optimal control problem was formulated as discrete linear quadratic control problems with constraints with receding predictive horizons, which can be efficiently solved by quadratic programming after reformulation. For rigor, the proofs of the recursive feasibility and asymptotic stability of our proposed predictive control model were provided. For evaluation, the performance of the control algorithm was compared against a non-cooperative distributed CAV control through simulation. It was found that the proposed method can significantly enhance both traffic efficiency and energy efficiency with ensured safety for CAV platoons at urban signalized intersections.

Keywords: isolated signalized intersection CAV platoon control; multi-objective optimal trajectory control; guaranteed feasibility; asymptotical stability; sub-platoons splitting algorithm; model predictive control (MPC) (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2020
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (5)

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