Decentralized Merging Control of Connected and Automated Vehicles to Enhance Safety and Energy Efficiency using Control Barrier Functions
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arXiv
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| Auteurs principaux: | , |
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| Format: | Preprint |
| Publié: |
2025
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| _version_ | 1866908619671339008 |
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| author | Deshpande, Shreshta Rajakumar Jankovic, Mrdjan |
| author_facet | Deshpande, Shreshta Rajakumar Jankovic, Mrdjan |
| contents | This paper presents a decentralized Control Barrier Function (CBF) based approach for highway merging of Connected and Automated Vehicles (CAVs). In this control algorithm, each "host" vehicle negotiates with other agents in a control zone of the highway network, and enacts its own action, to perform safe and energy-efficient merge maneuvers. It uses predictor-corrector loops within the robust CBF setting for negotiation and to reconcile disagreements that may arise. There is no explicit order of vehicles and no priority. A notable feature is absence of gridlocks due to instability of the inter-agent system. Results from Monte Carlo simulations show significant improvement in the system-wide energy efficiency and traffic flow compared to a first-in-first-out approach, as well as enhanced robustness of the proposed decentralized controller compared to its centralized counterpart. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_24871 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Decentralized Merging Control of Connected and Automated Vehicles to Enhance Safety and Energy Efficiency using Control Barrier Functions Deshpande, Shreshta Rajakumar Jankovic, Mrdjan Systems and Control This paper presents a decentralized Control Barrier Function (CBF) based approach for highway merging of Connected and Automated Vehicles (CAVs). In this control algorithm, each "host" vehicle negotiates with other agents in a control zone of the highway network, and enacts its own action, to perform safe and energy-efficient merge maneuvers. It uses predictor-corrector loops within the robust CBF setting for negotiation and to reconcile disagreements that may arise. There is no explicit order of vehicles and no priority. A notable feature is absence of gridlocks due to instability of the inter-agent system. Results from Monte Carlo simulations show significant improvement in the system-wide energy efficiency and traffic flow compared to a first-in-first-out approach, as well as enhanced robustness of the proposed decentralized controller compared to its centralized counterpart. |
| title | Decentralized Merging Control of Connected and Automated Vehicles to Enhance Safety and Energy Efficiency using Control Barrier Functions |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2510.24871 |