Optimal Sequencing and Motion Control in a Roundabout with Safety Guarantees
CoRR(2024)
摘要
This paper develops a controller for Connected and Automated Vehicles (CAVs)
traversing a single-lane roundabout. The controller simultaneously determines
the optimal sequence and associated optimal motion control jointly minimizing
travel time and energy consumption while providing speed-dependent safety
guarantees, as well as satisfying velocity and acceleration constraints. This
is achieved by integrating (a) Model Predictive Control (MPC) to enable
receding horizon optimization with (b) Control Lyapunov-Barrier Functions
(CLBFs) to guarantee convergence to a safe set in finite time, thus providing
an extended stability region compared to the use of classic Control Barrier
Functions (CBFs). The proposed MPC-CLBF framework addresses both infeasibility
and myopic control issues commonly encountered when controlling CAVs over
multiple interconnected control zones in a traffic network, which has been a
limitation of prior work on CAVs going through roundabouts, while still
providing safety guarantees. Simulations under varying traffic demands
demonstrate the controller's effectiveness and stability.
更多查看译文
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要