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
N1 - Publisher Copyright:
© 2019 IEEE.
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
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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 -