论文标题
通过十字路口作为最低时间最佳控制问题的骑士横穿骑车的道路
Lane-Free Crossing of CAVs through Intersections as a Minimum-Time Optimal Control Problem
论文作者
论文摘要
与传统的汽车不同，连接和自动驾驶汽车（CAV）可以以无车道顺序交叉交叉，并利用整个交叉点。本文提出了一个最低时间的最佳控制问题，以集中控制CAV，以在最短的时间内同时越过交叉点。双重问题理论被用来转发骑士的限制，以避免彼此碰撞并与道路边界相撞。开发的配方是通过基于梯度的算法平滑且可解决的。仿真结果表明，与最先进的基于预订和无车道的方法相比，提出的策略平均将交叉点的交叉时间平均减少了52％和54％。此外，无论骑士的数量如何，提议的策略的交叉时间都固定在交叉点上的恒定值。
Unlike conventional cars, connected and autonomous vehicles (CAVs) can cross intersections in a lane-free order and utilise the whole area of intersections. This paper presents a minimum-time optimal control problem to centrally control the CAVs to simultaneously cross an intersection in the shortest possible time. Dual problem theory is employed to convexify the constraints of CAVs to avoid collision with each other and with road boundaries. The developed formulation is smooth and solvable by gradient-based algorithms. Simulation results show that the proposed strategy reduces the crossing time of intersections by an average of 52% and 54% as compared to, respectively, the state-of-the-art reservation-based and lane-free methods. Furthermore, the crossing time by the proposed strategy is fixed to a constant value for an intersection regardless of the number of CAVs.
