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

Mohamad Hafizulazwan Nor, Toru Bin Mohamad Namerikawa

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

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 languageEnglish
Title of host publicationProceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1397-1402
Number of pages6
ISBN (Electronic)9781728124933
DOIs
Publication statusPublished - 2019 Jul
Event2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019 - Hong Kong, China
Duration: 2019 Jul 82019 Jul 12

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2019-July

Conference

Conference2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
CountryChina
CityHong Kong
Period19/7/819/7/12

ASJC Scopus subject areas

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

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