Optimal Safe Sequencing and Motion Control for Mixed Traffic Roundabouts
This paper develops an Optimal Safe Sequencing (OSS) control framework for Connected and Automated Vehicles (CAVs) navigating a single-lane roundabout in mixed traffic, where both CAVs and Human-Driven Vehicles (HDVs) coexist. The framework jointly optimizes vehicle sequencing and motion control to minimize travel time, energy consumption, and discomfort while ensuring speed-dependent safety guarantees and adhering to velocity and acceleration constraints. This is achieved by integrating (a) a Safe Sequencing (SS) policy that ensures merging safety without requiring any knowledge of HDV behavior, and (b) a Model Predictive Control with Control Lyapunov Barrier Functions (MPC-CLBF) framework, which optimizes CAV motion control while mitigating infeasibility and myopic control issues common in the use of Control Barrier Functions (CBFs) to provide safety guarantees. Simulation results across various traffic demands, CAV penetration rates, and control parameters demonstrate the framework's effectiveness and stability.
Code (0)
등록된 구현이 없습니다.
Tasks
Model Predictive ControlMethods 이 논문이 사용한 방법론
Similar Papers 제목 키워드 기반
Merging control in mixed traffic with safety guarantees: a safe sequencing policy with optimal motion control
We address the problem of merging traffic from two roadways consisting of both Connected Autonomous Vehicles (CAVs) and Human Driven Vehicles (HDVs). Guaranteeing safe merging in such mixed traffic settings is challengin…
Autonomous VehiclesOptimal Sequencing and Motion Control in a Roundabout with Safety Guarantees
This paper develops a controller for Connected and Automated Vehicles (CAVs) traversing a single-lane roundabout. The controller simultaneously determines the optimal sequence and associated optimal motion control jointl…
Model Predictive ControlSequencing-enabled Hierarchical Cooperative CAV On-ramp Merging Control with Enhanced Stability and Feasibility
This paper develops a sequencing-enabled hierarchical connected automated vehicle (CAV) cooperative on-ramp merging control framework. The proposed framework consists of a two-layer design: the upper level control sequen…
Model Predictive ControlDecentralized Time and Energy-Optimal Control of Connected and Automated Vehicles in a Roundabout
The paper considers the problem of controlling Connected and Automated Vehicles (CAVs) traveling through a three-entry roundabout so as to jointly minimize both the travel time and the energy consumption while providing …
Coordination for Connected Automated Vehicles at Merging Roadways in Mixed Traffic Environment
In this paper, we present an optimal control framework to address motion coordination of connected automated vehicles (CAVs) in the presence of human-driven vehicles (HDVs) in merging scenarios. Our framework combines an…