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Title: Optimal Control and Coordination of Connected and Automated Vehicles at Urban Traffic Intersections

We address the problem of coordinating online a continuous flow of connected and automated vehicles (CAVs) crossing two adjacent intersections in an urban area. We present a decentralized optimal control framework whose solution yields for each vehicle the optimal acceleration/deceleration at any time in the sense of minimizing fuel consumption. The solu- tion, when it exists, allows the vehicles to cross the intersections without the use of traffic lights, without creating congestion on the connecting road, and under the hard safety constraint of collision avoidance. The effectiveness of the proposed solution is validated through simulation considering two intersections located in downtown Boston, and it is shown that coordination of CAVs can reduce significantly both fuel consumption and travel time.
 [1] ;  [2] ;  [1]
  1. Boston University
  2. ORNL
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Resource Relation:
Conference: The 2016 American Control Conference, Boston, MA, USA, 20160706, 20160708
Research Org:
Oak Ridge National Laboratory (ORNL), Oak Ridge, TN (United States). National Transportation Research Center (NTRC)
Sponsoring Org:
ORNL LDRD Director's R&D
Country of Publication:
United States
Connected and automated vehicles; intersection control; decentralized control