论文标题
连接和自动化车辆的可证明的全系统范围的最佳协调条件
Conditions to Provable System-Wide Optimal Coordination of Connected and Automated Vehicles
论文作者
论文摘要
连接和自动化的车辆（CAVS）为提高能源效率，交通流量和安全性提供了最有趣的机会。在较早的工作中，我们使用汉密尔顿分析解决了不同交通情况下CAVS的最佳协调问题。在本文中，我们研究了不受约束的问题的特性，并提供了状态和控制约束不同的条件。我们提出了一个基于条件的计算框架，该框架改进了受约束的哈密顿分析的标准迭代解决方案程序。最后，我们得出了约束最佳控制问题的封闭形式的分析解决方案，并使用数值模拟验证了所提出的框架。该解决方案可以在没有任何递归步骤的情况下得出，因此适用于在板上实时实现。
Connected and automated vehicles (CAVs) provide the most intriguing opportunity to improve energy efficiency, traffic flow, and safety. In earlier work, we addressed the constrained optimal coordination problem of CAVs at different traffic scenarios using Hamiltonian analysis. In this paper, we investigate the properties of the unconstrained problem and provide conditions under which different combination of the state and control constraints become active. We present a condition-based computational framework that improves on the standard iterative solution procedure of the constrained Hamiltonian analysis. Finally, we derive a closed-form analytical solution of the constrained optimal control problem and validate the proposed framework using numerical simulation. The solution can be derived without any recursive steps, and thus it is appropriate for real-time implementation on-board the CAVs.
