论文标题
具有事件触发的控制屏障功能的连接自动化车辆的最佳控制
Optimal Control of Connected Automated Vehicles with Event-Triggered Control Barrier Functions
论文作者
论文摘要
我们解决了控制交通网络冲突区域中受到严格安全限制的冲突区域中连接和自动化车辆（CAV）的问题。已经表明，可以通过可拖动的最佳控制问题制剂和使用控制屏障功能（CBF）的结合来解决此类问题，以保证所有约束满意。这些解决方案可以简化为一系列二次程序（QP），这些序列可以在离散的时间步长上有效地解决。但是，每个这样的QP的可行性不能在每个时间步骤中保证。为了克服这一限制，我们开发了一种事件驱动的方法，以便下一个QP是由正确定义的事件触发的，并表明该方法可以由于时间驱动的间采样效应而消除不可行的情况。仿真示例表明，通过提出的事件触发方案如何显着降低整体不可限性，同时还减少了在不损害性能的情况下对CAV之间的通信需求。
We address the problem of controlling Connected and Automated Vehicles (CAVs) in conflict areas of a traffic network subject to hard safety constraints. It has been shown that such problems can be solved through a combination of tractable optimal control problem formulations and the use of Control Barrier Functions (CBFs) that guarantee the satisfaction of all constraints. These solutions can be reduced to a sequence of Quadratic Programs (QPs) which are efficiently solved on line over discrete time steps. However, the feasibility of each such QP cannot be guaranteed over every time step. To overcome this limitation, we develop an event-driven approach such that the next QP is triggered by properly defined events and show that this approach can eliminate infeasible cases due to time-driven inter-sampling effects. Simulation examples show how overall infeasibilities can be significantly reduced with the proposed event-triggering scheme, while also reducing the need for communication among CAVs without compromising performance.
