Combining Cooperative Re-Routing with Intersection Coordination for Connected and Automated Vehicles in Urban Networks
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arXiv
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| Autores principales: | , |
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| Formato: | Preprint |
| Publicado: |
2025
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| _version_ | 1866909536331235328 |
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| author | Typaldos, Panagiotis Malikopoulos, Andreas A. |
| author_facet | Typaldos, Panagiotis Malikopoulos, Andreas A. |
| contents | In this paper, we present a hierarchical framework that integrates upper-level routing with low-level optimal trajectory planning for connected and automated vehicles (CAVs) traveling in an urban network. The upper-level controller efficiently distributes traffic flows by utilizing a dynamic re-routing algorithm that leverages real-time density information and the fundamental diagrams of each network edge. This re-routing approach predicts when each edge will reach critical density and proactively adjusts the routing algorithm's weights to prevent congestion before it occurs. The low-level controller coordinates CAVs as they cross signal-free intersections, generating optimal, fuel-efficient trajectories while ensuring safe passage by satisfying all relevant constraints. We formulate the problem as an optimal control problem and derive an analytical solution. Using the SUMO micro-simulation platform, we conduct simulation experiments on a realistic network. The results show that our hierarchical framework significantly enhances network performance compared to a baseline static routing approach. By dynamically re-routing vehicles, our approach successfully reduces total travel time and mitigates congestion before it develops. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_10004 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Combining Cooperative Re-Routing with Intersection Coordination for Connected and Automated Vehicles in Urban Networks Typaldos, Panagiotis Malikopoulos, Andreas A. Systems and Control In this paper, we present a hierarchical framework that integrates upper-level routing with low-level optimal trajectory planning for connected and automated vehicles (CAVs) traveling in an urban network. The upper-level controller efficiently distributes traffic flows by utilizing a dynamic re-routing algorithm that leverages real-time density information and the fundamental diagrams of each network edge. This re-routing approach predicts when each edge will reach critical density and proactively adjusts the routing algorithm's weights to prevent congestion before it occurs. The low-level controller coordinates CAVs as they cross signal-free intersections, generating optimal, fuel-efficient trajectories while ensuring safe passage by satisfying all relevant constraints. We formulate the problem as an optimal control problem and derive an analytical solution. Using the SUMO micro-simulation platform, we conduct simulation experiments on a realistic network. The results show that our hierarchical framework significantly enhances network performance compared to a baseline static routing approach. By dynamically re-routing vehicles, our approach successfully reduces total travel time and mitigates congestion before it develops. |
| title | Combining Cooperative Re-Routing with Intersection Coordination for Connected and Automated Vehicles in Urban Networks |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2503.10004 |