TY - GEN
T1 - Cooperative Control of Connected and Automated Vehicles at Signal-free Intersections Considering Passenger Comfort
AU - Kuchiki, Akira
AU - Namerikawa, Toru
N1 - Publisher Copyright:
© 2022 The Society of Instrument and Control Engineers - SICE.
PY - 2022
Y1 - 2022
N2 - 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.
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.
KW - Connected and Automated Vehicles(CAVs)
KW - passenger comfort
KW - signal-free intersections
UR - http://www.scopus.com/inward/record.url?scp=85141193430&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85141193430&partnerID=8YFLogxK
U2 - 10.23919/SICE56594.2022.9905760
DO - 10.23919/SICE56594.2022.9905760
M3 - Conference contribution
AN - SCOPUS:85141193430
T3 - 2022 61st Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2022
SP - 909
EP - 914
BT - 2022 61st Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 61st Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2022
Y2 - 6 September 2022 through 9 September 2022
ER -