Speed trajectory planning at signalized intersections using sequential convex optimization

TL;DR

This paper presents a sequential convex optimization algorithm for planning vehicle speed trajectories through multiple signalized intersections, aiming to minimize fuel consumption and travel time while ensuring ride comfort.

Contribution

It introduces a novel sequential convex optimization approach for multi-intersection speed planning and compares its performance with dynamic programming.

Findings

The proposed method effectively reduces fuel consumption and travel time.

It demonstrates comparable or improved optimality relative to dynamic programming.

Vehicle turning dynamics significantly impact fuel efficiency and travel time.

Abstract

An algorithm is developed to optimize vehicle speed trajectory over multiple signalized intersections with known traffic signal information to minimize fuel consumption and travel time, and to meet ride comfort requirements using sequential convex optimization method. A comparison between the proposed method and dynamic programming is carried out to verify its optimality. In addition, vehicle motion during turning is studied because of its significant effect on fuel consumption and travel time.