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

Akira Kuchiki, Toru Namerikawa

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2022 61st Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2022
出版社Institute of Electrical and Electronics Engineers Inc.
ページ909-914
ページ数6
ISBN(電子版)9784907764784
DOI
出版ステータスPublished - 2022
イベント61st Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2022 - Kumamoto, Japan
継続期間: 2022 9月 62022 9月 9

出版物シリーズ

名前2022 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
国/地域Japan
CityKumamoto
Period22/9/622/9/9

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ サイエンスの応用
  • 制御およびシステム工学
  • 制御と最適化
  • 器械工学

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