Combined Optimal Routing and Coordination of Connected and Automated Vehicles

Abstract

This paper addresses the challenge of generating optimal vehicle flow at the macroscopic level. Although several studies have focused on optimizing vehicle flow, little attention has been given to ensuring it can be practically achieved. To overcome this issue, we propose a route-recovery and ecodriving strategy for connected and automated vehicles (CAVs) that guarantees optimal flow generation. Our approach involves identifying the optimal vehicle flow that minimizes total travel time, given the constant travel demands in urban areas. We then develop a heuristic route-recovery algorithm to assign routes to CAVs that satisfy all travel demands while maintaining the optimal flow. Our method lets CAVs arrive at each road segment at their desired arrival time based on their assigned route and desired flow. In addition, we present an efficient coordination framework to minimize the energy consumption of CAVs and prevent collisions while crossing intersections. The proposed method can effectively generate optimal vehicle flow and potentially reduce travel time and energy consumption in urban areas.

Distributed Scheduling at Non-Signalized Intersections with Mixed Cooperative and Non-Cooperative Vehicles

“…Before presenting the policy, we first introduce some basic settings. Let {t k | k ≥ 0} be a set of times shared by all cooperative vehicles, 3 and each vehicle determines its trajectory in [t k , t k+1 ] during the previous interval…”

A Two-Stage MIQP-Based Optimization Approach for Coordinating Automated Electric Vehicles in Confined Sites

“…This combinatorial decision is the predominant component in the complexity of the coordination problem. Commonly proposed approaches leverage optimal control methods, often relying on simplifying assumptions and heuristics, to compute the coordinated vehicle trajectories [5]- [9]. The motion trajectories of all vehicles are assembled into a motion plan that is communicated to the "Vehicle fleet", which follows the plan and sends feedback on the execution of the plan.…”