Merging Control in Mixed Traffic with Safety Guarantees: A Safe Sequencing Policy with Optimal Motion Control

被引:2
作者
Sabouni, Ehsan [1 ,2 ]
Ahmad, H. M. Sabbir [1 ,2 ]
Cassandras, Christos G. [1 ,2 ]
Li, Wenchao [1 ,2 ]
机构
[1] Boston Univ, Div Syst Engn, Boston, MA 02215 USA
[2] Boston Univ, Dept Elect & Comp Engn, Boston, MA 02215 USA
来源
2023 IEEE 26TH INTERNATIONAL CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS, ITSC | 2023年
关键词
AUTOMATED VEHICLES;
D O I
10.1109/ITSC57777.2023.10422265
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
We address the problem of merging traffic from two roadways consisting of both Connected Autonomous Vehicles (CAVs) and Human Driven Vehicles (HDVs). Guaranteeing safe merging in such mixed traffic settings is challenging due to the unpredictability of possibly uncooperative HDVs. We develop a hierarchical controller where at each discrete time step a coordinator first determines the best possible Safe Sequence (SS) which can be realized without any knowledge of human driving behavior. Then, a lower-level decentralized motion controller for each CAV jointly minimizes travel time and energy over a prediction horizon, subject to hard safety constraints dependent on the given safe sequence. This is accomplished using a Model Predictive Controller (MPC) subject to constraints based on Control Barrier Functions (CBFs) which render it computationally efficient. Extensive simulation results are included showing that this hierarchical controller outperforms the commonly adopted Shortest Distance First (SDF) passing sequence over the full range of CAV penetration rates, while also providing safe merging guarantees.
引用
收藏
页码:4260 / 4265
页数:6
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