Optimal Control of Connected Automated Vehicles with Event-Triggered Control Barrier Functions

TL;DR

This paper proposes an event-triggered control scheme for connected automated vehicles that guarantees safety constraints are met, reduces infeasibility issues, and minimizes communication, improving overall traffic management efficiency.

Contribution

It introduces an event-driven approach to control barrier functions for CAVs, addressing infeasibility and communication challenges in optimal control formulations.

Findings

Significantly reduces infeasible control problems.

Decreases communication requirements among vehicles.

Maintains safety and performance with event-triggered control.

Abstract

We address the problem of controlling Connected and Automated Vehicles (CAVs) in conflict areas of a traffic network subject to hard safety constraints. It has been shown that such problems can be solved through a combination of tractable optimal control problem formulations and the use of Control Barrier Functions (CBFs) that guarantee the satisfaction of all constraints. These solutions can be reduced to a sequence of Quadratic Programs (QPs) which are efficiently solved on line over discrete time steps. However, the feasibility of each such QP cannot be guaranteed over every time step. To overcome this limitation, we develop an event-driven approach such that the next QP is triggered by properly defined events and show that this approach can eliminate infeasible cases due to time-driven inter-sampling effects. Simulation examples show how overall infeasibilities can be significantly reduced with the proposed event-triggering scheme, while also reducing the need for communication among CAVs without compromising performance.