Cooperative Control of Connected and Automated Vehicles at Signal-free Intersections Considering Passenger Comfort

Akira Kuchiki, Toru Namerikawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this research, we deal with the coordination problem of Connected and Automated Vehicles (CAVs) at signal-free intersections. First, the problem is formulated to find the appropriate merge time for each CAV. Next, an optimal motion planning problem is formulated to find the control input (jerk) necessary to accurately achieve the given optimal merging time while minimizing the jerk and acceleration. We also present an analytical solution for this motion planning problem with inequality constraints on jerk and acceleration, which achieves both passenger comfort and reduced fuel consumption. Finally, the simulation results show the effectiveness of the proposed method.

Original languageEnglish
Title of host publication2022 61st Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages909-914
Number of pages6
ISBN (Electronic)9784907764784
DOIs
Publication statusPublished - 2022
Event61st Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2022 - Kumamoto, Japan
Duration: 2022 Sep 62022 Sep 9

Publication series

Name2022 61st Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2022

Conference

Conference61st Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2022
Country/TerritoryJapan
CityKumamoto
Period22/9/622/9/9

Keywords

  • Connected and Automated Vehicles(CAVs)
  • passenger comfort
  • signal-free intersections

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Control and Optimization
  • Instrumentation

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