Optimal Control for Speed Harmonization of Automated Vehicles

Document Type

Article

Publication Date

7-1-2019

Abstract

This paper addresses the problem of controlling the speed of a number of automated vehicles before they enter a speed reduction zone on a freeway. We formulate the control problem and provide an analytical, closed-form solution that can be implemented in real time. The solution yields the optimal acceleration/deceleration of each vehicle under the hard safety constraint of rear-end collision avoidance. The effectiveness of the solution is evaluated through a microscopic simulation testbed and it is shown that the proposed approach significantly reduces both fuel consumption and travel time. In particular, for three different traffic volume levels, fuel consumption for each vehicle is reduced by 19-22% compared to the baseline scenario, in which human-driven vehicles are considered, by 12-17% compared to the variable speed limit algorithm, and by 18-34% compared to the vehicular-based speed harmonization (SPD-HARM) algorithm. Similarly, travel time is improved by 26-30% compared to the baseline scenario, by 3-19% compared to the VSL algorithm, and by 31-39% compared to the vehicular-based SPD-HARM algorithm.

Identifier

85053310052 (Scopus)

Publication Title

IEEE Transactions on Intelligent Transportation Systems

External Full Text Location

https://doi.org/10.1109/TITS.2018.2865561

ISSN

15249050

First Page

2405

Last Page

2417

Issue

7

Volume

20

Grant

DE-AR0000796

Fund Ref

U.S. Department of Energy

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