Optimal Sequencing and Motion Control in a Roundabout with Safety Guarantees
Fuente:
arXiv
Gespeichert in:
| Hauptverfasser: | , , |
|---|---|
| Format: | Preprint |
| Veröffentlicht: |
2024
|
| Schlagworte: | |
| Online-Zugang: | |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| _version_ | 1866909142940123136 |
|---|---|
| author | Chen, Yingqing Cassandras, Christos G. Xu, Kaiyuan |
| author_facet | Chen, Yingqing Cassandras, Christos G. Xu, Kaiyuan |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_09923 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Optimal Sequencing and Motion Control in a Roundabout with Safety Guarantees Chen, Yingqing Cassandras, Christos G. Xu, Kaiyuan Systems and Control 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. |
| title | Optimal Sequencing and Motion Control in a Roundabout with Safety Guarantees |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2403.09923 |