Decentralized optimal traffic merging control
Decentralized optimal traffic merging control
Embedded Files
Selected application: a merging scenario of I-90 MA, USA (known as Massachusetts Turnpike). The objective is to jointly minimize the travel time, energy consumption, and the passenger discomfort of each CAV. The solution guarantees that a speed-dependent safety constraint and a lateral rollover avoidance constraint are always satisfied, both at the merging point and everywhere within a control zone which precedes it.
Left video (baseline): human-driven vehicles in Vissim.
Right video (all CAV traffic): optimally controlled CAVs with safety guarantee under the proposed framework
merging_curve_heavy_vissim.mp4merging_curve_heavy_OCBF.mp4Mixed Traffic (CAVs and human-driving vehicles (HDVs), CAV penetration rate: 0.5) with vehicle inference. CAVs: red and green circles, HDVs: black stars.
Left video (FIFO): HDVs following the FIFO rule, vehicle arriving rates are 1000 vehicles/h for both roads.
Right video (Priority): HDVs following the (main road) priority rule, vehicle arriving rates are 500 vehicles/h and 800 vehicles/h for main and merging roads, resp.
merging_infer20220314_112838.mp4merging_infer_priority20220314_112228.mp4Page updated
Google Sites
Report abuse