自动驾驶环境下交叉口车辆路径规划与最优控制模型

Translated title of the contribution: A Novel Autonomous Vehicle Trajectory Planning and Control Model for Connected-and-Autonomous Intersections

Wei Wu, Yang Liu, Wei Liu, Guo Hong Wu, Wan Jing Ma

Research output: Journal article publicationJournal articleAcademic researchpeer-review

2 Citations (Scopus)

Abstract

By utilizing the two-way information communication between vehicle and vehicle/infrastructure, autonomous vehicles can traverse the intersection without traditional traffic signals. Therefore, how to design an efficient and automated intersection control model for autonomous vehicles becomes a hot topic in recent years. Most previous studies often assumed that the travel routes/trajectories of autonomous vehicles inside the intersection area are exogenous inputs, and the vehicles' conflicts inside the intersection area have been simplified into a small set of points. In this paper, we firstly discretize the intersection space, and then consider the actual size of the vehicle and the unconventional intersection conflicting points by utilizing the elliptic curve to describe turning vehicles' travel trajectory, and establish the mapping relationship between the trajectory equation and the intersection space by the method of outer boundary projection and dimensionality reduction. Finally, a mixed integer linear programming (MILP) model has been developed to optimally plan and control autonomous vehicle trajectories. By minimizing the total delay of the intersection, the proposed model provides the travel route/trajectory and the time to enter the intersection for each autonomous vehicle, simultaneously. The model is compiled using AMPL (A mathematical programming language) and can be efficiently solved by CPLEX. We then compare the proposed model with traditional actuated signal control and the first-come-first-served model. Our test results clearly indicate that the proposed model can optimize the travel route and entry time for autonomous vehicles efficiently, which decreases the average delay for autonomous vehicles significantly and improves the utilization of the intersection spaces.

Translated title of the contributionA Novel Autonomous Vehicle Trajectory Planning and Control Model for Connected-and-Autonomous Intersections
Original languageChinese (Simplified)
Pages (from-to)1971-1985
Number of pages15
JournalZidonghua Xuebao/Acta Automatica Sinica
Volume46
Issue number9
DOIs
Publication statusPublished - Sep 2020

Keywords

  • Autonomous vehicles
  • Intersection
  • Traffic control
  • Travel trajectory

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Information Systems
  • Computer Graphics and Computer-Aided Design

Cite this