Optimal Control of Connected and Automated Vehicles at Intersections with State and Control Constraints

Mohamad Hafizulazwan Nor; Toru Bin Mohamad Namerikawa

doi:10.1109/AIM.2019.8868687

Optimal Control of Connected and Automated Vehicles at Intersections with State and Control Constraints

Mohamad Hafizulazwan Nor, Toru Bin Mohamad Namerikawa

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

Abstract

This paper addresses the optimal control problem (optimal acceleration and deceleration to minimize fuel consumption) for Connected and Automated Vehicles (CAVs) to cross an intersection with state and control constraints. First, we obtain the crossing time for the CAVs to cross the intersection with Mixed Integer Linear Programming (MILP). Then, the crossing time is used as a terminal time to formulate the optimal control problem and we utilized analytical solution (Hamiltonian analysis) to solve the problem. Finally, we simulated the proposed approach and the results show that, even with the frequently changing crossing time, the controller is capable of providing the solution to the optimal control problem.

Original language	English
Title of host publication	Proceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1397-1402
Number of pages	6
ISBN (Electronic)	9781728124933
DOIs	https://doi.org/10.1109/AIM.2019.8868687
Publication status	Published - 2019 Jul
Event	2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019 - Hong Kong, China Duration: 2019 Jul 8 → 2019 Jul 12

Publication series

Name	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume	2019-July

Conference

Conference	2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
Country/Territory	China
City	Hong Kong
Period	19/7/8 → 19/7/12

ASJC Scopus subject areas

Electrical and Electronic Engineering
Control and Systems Engineering
Computer Science Applications
Software

Access to Document

10.1109/AIM.2019.8868687

Cite this

Nor, M. H., & Namerikawa, T. B. M. (2019). Optimal Control of Connected and Automated Vehicles at Intersections with State and Control Constraints. In Proceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019 (pp. 1397-1402). [8868687] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2019-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2019.8868687

Optimal Control of Connected and Automated Vehicles at Intersections with State and Control Constraints. / Nor, Mohamad Hafizulazwan; Namerikawa, Toru Bin Mohamad.
Proceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 1397-1402 8868687 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2019-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Nor, MH & Namerikawa, TBM 2019, Optimal Control of Connected and Automated Vehicles at Intersections with State and Control Constraints. in Proceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019., 8868687, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, vol. 2019-July, Institute of Electrical and Electronics Engineers Inc., pp. 1397-1402, 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019, Hong Kong, China, 19/7/8. https://doi.org/10.1109/AIM.2019.8868687

Nor MH, Namerikawa TBM. Optimal Control of Connected and Automated Vehicles at Intersections with State and Control Constraints. In Proceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 1397-1402. 8868687. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). doi: 10.1109/AIM.2019.8868687

Nor, Mohamad Hafizulazwan ; Namerikawa, Toru Bin Mohamad. / Optimal Control of Connected and Automated Vehicles at Intersections with State and Control Constraints. Proceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 1397-1402 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).

@inproceedings{d3a09851d6ea4e79b56d9143f2d61154,

title = "Optimal Control of Connected and Automated Vehicles at Intersections with State and Control Constraints",

abstract = "This paper addresses the optimal control problem (optimal acceleration and deceleration to minimize fuel consumption) for Connected and Automated Vehicles (CAVs) to cross an intersection with state and control constraints. First, we obtain the crossing time for the CAVs to cross the intersection with Mixed Integer Linear Programming (MILP). Then, the crossing time is used as a terminal time to formulate the optimal control problem and we utilized analytical solution (Hamiltonian analysis) to solve the problem. Finally, we simulated the proposed approach and the results show that, even with the frequently changing crossing time, the controller is capable of providing the solution to the optimal control problem.",

author = "Nor, {Mohamad Hafizulazwan} and Namerikawa, {Toru Bin Mohamad}",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019 ; Conference date: 08-07-2019 Through 12-07-2019",

year = "2019",

month = jul,

doi = "10.1109/AIM.2019.8868687",

language = "English",

series = "IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1397--1402",

booktitle = "Proceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019",

}

TY - GEN

T1 - Optimal Control of Connected and Automated Vehicles at Intersections with State and Control Constraints

AU - Nor, Mohamad Hafizulazwan

AU - Namerikawa, Toru Bin Mohamad

PY - 2019/7

Y1 - 2019/7

N2 - This paper addresses the optimal control problem (optimal acceleration and deceleration to minimize fuel consumption) for Connected and Automated Vehicles (CAVs) to cross an intersection with state and control constraints. First, we obtain the crossing time for the CAVs to cross the intersection with Mixed Integer Linear Programming (MILP). Then, the crossing time is used as a terminal time to formulate the optimal control problem and we utilized analytical solution (Hamiltonian analysis) to solve the problem. Finally, we simulated the proposed approach and the results show that, even with the frequently changing crossing time, the controller is capable of providing the solution to the optimal control problem.

AB - This paper addresses the optimal control problem (optimal acceleration and deceleration to minimize fuel consumption) for Connected and Automated Vehicles (CAVs) to cross an intersection with state and control constraints. First, we obtain the crossing time for the CAVs to cross the intersection with Mixed Integer Linear Programming (MILP). Then, the crossing time is used as a terminal time to formulate the optimal control problem and we utilized analytical solution (Hamiltonian analysis) to solve the problem. Finally, we simulated the proposed approach and the results show that, even with the frequently changing crossing time, the controller is capable of providing the solution to the optimal control problem.

UR - http://www.scopus.com/inward/record.url?scp=85074250163&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85074250163&partnerID=8YFLogxK

U2 - 10.1109/AIM.2019.8868687

DO - 10.1109/AIM.2019.8868687

M3 - Conference contribution

AN - SCOPUS:85074250163

T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

SP - 1397

EP - 1402

BT - Proceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019

Y2 - 8 July 2019 through 12 July 2019

ER -

Optimal Control of Connected and Automated Vehicles at Intersections with State and Control Constraints

Abstract

Publication series

Conference

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this