Multilane Automated Driving With Optimal Control and Mixed-Integer Programming

Dollar, Robert Austin; Vahidi, Ardalan

doi:10.1109/TCST.2020.3046570

Multilane Automated Driving With Optimal Control and Mixed-Integer Programming

Journal Article · Wed Jan 20 00:00:00 EST 2021 · IEEE Transactions on Control Systems Technology

DOI:https://doi.org/10.1109/TCST.2020.3046570· OSTI ID:1863234

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Clemson Univ., SC (United States); General Motors
Clemson Univ., SC (United States)

Road vehicle lane changes often initiate traffic disturbances and can therefore impact road networks’ energy and time efficiency. Furthermore, unexpected changes in traffic conditions may also render lane changes counterproductive for the lane-changing vehicle. Vehicle-to-vehicle connectivity combined with anticipative control could address these challenges via improved lane change decisions by automated vehicles. In a move toward this objective, receding horizon control cast as a mixed-integer quadratic program is used to plan lane changing and acceleration in a coupled optimization. A long-term pacing module, based on Pontryagin’s minimum principle from optimal control theory, sets terminal and input references for receding horizon control to target a user’s expected travel time. To remove nonlinear vehicle dynamics from the receding horizon controller, lane change commands are passed to a pure pursuit steering module whose response is approximated by a second-order linear model. Here, comparison against a rule-based reactive algorithm in arterial and highway scenarios shows an 8.9%–13.7% reduction in energy consumption and a 5.2%–10.3% reduction in the travel time, along with navigational improvements.

View Accepted Manuscript (DOE)

Research Organization:: Clemson Univ., SC (United States)

Sponsoring Organization:: USDOE Office of Energy Efficiency and Renewable Energy (EERE), Transportation Office. Vehicle Technologies Office

Grant/Contract Number:: EE0008232

OSTI ID:: 1863234

Journal Information:: IEEE Transactions on Control Systems Technology, Journal Name: IEEE Transactions on Control Systems Technology Journal Issue: 6 Vol. 29; ISSN 1063-6536

Publisher:: IEEECopyright Statement

Country of Publication:: United States

Language:: English

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