Synchronous and asynchronous parallel computation for large-scale optimal control of connected vehicles
•A parallel computation algorithm for large-scale optimal control of CAVs is proposed.•The coupling constraints is decomposed with consensus optimization and ADMM.•The algorithm’s time complexity is independent to vehicle numbers.•An asynchronous version ADMM is proposed based on our parallel algori...
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| Veröffentlicht in: | Transportation research. Part C, Emerging technologies Jg. 121; S. 102842 |
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| Sprache: | Englisch |
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01.12.2020
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| ISSN: | 0968-090X, 1879-2359 |
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| Abstract | •A parallel computation algorithm for large-scale optimal control of CAVs is proposed.•The coupling constraints is decomposed with consensus optimization and ADMM.•The algorithm’s time complexity is independent to vehicle numbers.•An asynchronous version ADMM is proposed based on our parallel algorithm.•The convergence of the asynchronous ADMM is proved in theory.
Connected vehicles is an important intelligent transportation system to improve the traffic performance. This paper proposes two parallel computation algorithms to solve a large-scale optimal control problem in the coordination of multiple connected vehicles. The coordination is formulated as a centralized optimization problem in the receding horizon fashion. A decentralized computation network is designed to facilitate the development of parallel algorithms. We use Taylor series to linearize non-convex constraints, and introduce a set of consensus constraints to transform the centralized problem to a standard consensus optimization problem. A synchronous parallel algorithm is firstly proposed to solve the consensus optimization problem by applying the alternating direction method of multipliers (ADMM). The ADMM framework allows us to decompose the coupling constraints and decision variables, leading to parallel iterations for each vehicle in a synchronous fashion. We then propose an asynchronous version of the parallel algorithm that allows the vehicles to update their variables asynchronously in the computation network. The effectiveness and efficiency of the proposed algorithms are validated by extensive numerical simulations. |
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| AbstractList | •A parallel computation algorithm for large-scale optimal control of CAVs is proposed.•The coupling constraints is decomposed with consensus optimization and ADMM.•The algorithm’s time complexity is independent to vehicle numbers.•An asynchronous version ADMM is proposed based on our parallel algorithm.•The convergence of the asynchronous ADMM is proved in theory.
Connected vehicles is an important intelligent transportation system to improve the traffic performance. This paper proposes two parallel computation algorithms to solve a large-scale optimal control problem in the coordination of multiple connected vehicles. The coordination is formulated as a centralized optimization problem in the receding horizon fashion. A decentralized computation network is designed to facilitate the development of parallel algorithms. We use Taylor series to linearize non-convex constraints, and introduce a set of consensus constraints to transform the centralized problem to a standard consensus optimization problem. A synchronous parallel algorithm is firstly proposed to solve the consensus optimization problem by applying the alternating direction method of multipliers (ADMM). The ADMM framework allows us to decompose the coupling constraints and decision variables, leading to parallel iterations for each vehicle in a synchronous fashion. We then propose an asynchronous version of the parallel algorithm that allows the vehicles to update their variables asynchronously in the computation network. The effectiveness and efficiency of the proposed algorithms are validated by extensive numerical simulations. |
| ArticleNumber | 102842 |
| Author | Gao, Jiaxin Ma, Fei Zheng, Yang Li, Keqiang Li, Shengbo Eben Wang, Zhitao Sun, Qi |
| Author_xml | – sequence: 1 givenname: Shengbo Eben surname: Li fullname: Li, Shengbo Eben email: lishbo@tsinghua.edu.cn organization: State Key Lab of Automotive Safety and Energy, Tsinghua University, Beijing, China – sequence: 2 givenname: Zhitao surname: Wang fullname: Wang, Zhitao organization: State Key Lab of Automotive Safety and Energy, Tsinghua University, Beijing, China – sequence: 3 givenname: Yang surname: Zheng fullname: Zheng, Yang organization: Department of Engineering Science, University of Oxford, UK – sequence: 4 givenname: Qi surname: Sun fullname: Sun, Qi organization: State Key Lab of Automotive Safety and Energy, Tsinghua University, Beijing, China – sequence: 5 givenname: Jiaxin surname: Gao fullname: Gao, Jiaxin organization: Department of Vehicle Engineering, University of Science & Technology Beijing, Beijing, China – sequence: 6 givenname: Fei surname: Ma fullname: Ma, Fei organization: Department of Vehicle Engineering, University of Science & Technology Beijing, Beijing, China – sequence: 7 givenname: Keqiang surname: Li fullname: Li, Keqiang organization: State Key Lab of Automotive Safety and Energy, Tsinghua University, Beijing, China |
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