论文标题
通过交叉口的骑士无车道横穿
Optimal Lane-Free Crossing of CAVs through Intersections
论文作者
论文摘要
与常规汽车不同，连接和自动驾驶汽车（CAVS）将利用整个交叉路口，并以无车道订单交叉。本文制定了这种交叉点的无车道交叉，例如多目标最佳控制问题（OCP），可最大程度地减少整个交叉点以及CAV的能量消耗。提出的OCP通过将双重问题理论应用于避免车辆相互碰撞并与道路边界发生碰撞的约束来传达。所得的OCP通过基于梯度的算法平滑且可解决。仿真结果表明，与最先进的基于最新的预订方法相比，所提出的算法平均减少了40％和41％的交叉时间，同时消耗了相同的能量。此外，结果表明，所提出的算法的交叉时间是i）固定在恒定值的情况下，而不管骑士的数量多少，ii）非常接近其理论极限。
Connected and autonomous vehicles (CAVs), unlike conventional cars, will utilise the whole space of intersections and cross in a lane-free order. This paper formulates such a lane-free crossing of intersections as a multi-objective optimal control problem (OCP) that minimises the overall crossing time, as well as the energy consumption of CAVs. The proposed OCP is convexified by applying the dual problem theory to the constraints that avoid collision of vehicles with each other and with road boundaries. The resulting OCP is smooth and solvable by gradient-based algorithms. Simulation results show that the proposed algorithm reduces the crossing time by an average of 40% and 41% as compared to, respectively, the state-of-the-art reservation-based and lane-free methods, whilst consuming the same amount of energy. Furthermore, it is shown that the resulting crossing time of the proposed algorithm is i) fixed to a constant value regardless of the number of CAVs, and ii) very close to its theoretical limit.
