Decentralized Optimal Control for Online Coordination of Connected and Automated Vehicles

Andreas Malikopoulos
Oak Ridge National Laboratory

Recognition of the necessity for connecting vehicles to their surroundings is gaining momentum. In this “new world” of massive amounts of data from vehicles and infrastructure, what we used to model as uncertainty (noise or disturbance) for traffic becomes an extra state information in a much higher-dimensional vector. This talk will address the problem of coordinating vehicles that are wirelessly connected to each other at different transportation segments, e.g., intersections, merging roadways, to achieve a smooth traffic flow without stop-and-go driving. We present a framework and a closed-form solution that optimize the acceleration profile of each vehicle in terms of fuel consumption while avoiding collision with other vehicles. The proposed solution is validated through simulation and it is shown that coordination of connected vehicles can reduce significantly both fuel consumption and travel time.

Presentation (PDF File)

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