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

Akira Kuchiki; Toru Namerikawa

doi:10.23919/SICE56594.2022.9905760

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

Akira Kuchiki, Toru Namerikawa

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	2022 61st Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2022
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	909-914
Number of pages	6
ISBN (Electronic)	9784907764784
DOIs	https://doi.org/10.23919/SICE56594.2022.9905760
Publication status	Published - 2022
Event	61st Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2022 - Kumamoto, Japan Duration: 2022 Sept 6 → 2022 Sept 9

Publication series

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

Conference

Conference	61st Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2022
Country/Territory	Japan
City	Kumamoto
Period	22/9/6 → 22/9/9

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

Access to Document

10.23919/SICE56594.2022.9905760

Cite this

Kuchiki, A., & Namerikawa, T. (2022). Cooperative Control of Connected and Automated Vehicles at Signal-free Intersections Considering Passenger Comfort. In 2022 61st Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2022 (pp. 909-914). (2022 61st Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2022). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/SICE56594.2022.9905760

Cooperative Control of Connected and Automated Vehicles at Signal-free Intersections Considering Passenger Comfort. / Kuchiki, Akira; Namerikawa, Toru.
2022 61st Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2022. Institute of Electrical and Electronics Engineers Inc., 2022. p. 909-914 (2022 61st Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2022).

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

Kuchiki, A & Namerikawa, T 2022, Cooperative Control of Connected and Automated Vehicles at Signal-free Intersections Considering Passenger Comfort. in 2022 61st Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2022. 2022 61st Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2022, Institute of Electrical and Electronics Engineers Inc., pp. 909-914, 61st Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2022, Kumamoto, Japan, 22/9/6. https://doi.org/10.23919/SICE56594.2022.9905760

Kuchiki A, Namerikawa T. Cooperative Control of Connected and Automated Vehicles at Signal-free Intersections Considering Passenger Comfort. In 2022 61st Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2022. Institute of Electrical and Electronics Engineers Inc. 2022. p. 909-914. (2022 61st Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2022). doi: 10.23919/SICE56594.2022.9905760

Kuchiki, Akira ; Namerikawa, Toru. / Cooperative Control of Connected and Automated Vehicles at Signal-free Intersections Considering Passenger Comfort. 2022 61st Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2022. Institute of Electrical and Electronics Engineers Inc., 2022. pp. 909-914 (2022 61st Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2022).

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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.",

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AB - 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.

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

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

Access to Document

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