A Decentralized Energy-Optimal Control Framework for Connected Automated Vehicles at Signal-Free Intersections

TL;DR

This paper proposes a decentralized control framework for connected automated vehicles at signal-free intersections, optimizing energy use and throughput without traffic signals, ensuring safety and efficiency.

Contribution

It introduces a novel analytical solution for decentralized energy optimization of CAVs at intersections, ensuring safety and maximizing throughput.

Findings

Significant fuel and momentum savings demonstrated in simulations.

Improved travel times without compromising safety.

Feasible solutions always exist under certain safety constraints.

Abstract

We address the problem of optimally controlling connected and automated vehicles (CAVs) crossing an urban intersection without any explicit traffic signaling, so as to minimize energy consumption subject to a throughput maximization requirement. We show that the solution of the throughput maximization problem depends only on the hard safety constraints imposed on CAVs and its structure enables a decentralized optimal control problem formulation for energy minimization. We present a complete analytical solution of these decentralized problems and derive conditions under which feasible solutions satisfying all safety constraints always exist. The effectiveness of the proposed solution is illustrated through simulation which shows substantial dual benefits of the proposed decentralized framework by allowing CAVs to conserve momentum and fuel while also improving travel time.