Safe cooperative control of CAVs at signal-free intersection under realistic scenarios

This research deals with the cooperative control of CAVs (Connected and Automated Vehicles) at signal-free intersection. CAVs communicate with each other and adjust their speeds to safely pass through the intersection without having to stop. This is expected to improve intersection throughput and re...

Celý popis

Uloženo v:
Podrobná bibliografie
Vydáno v:SICE Journal of Control, Measurement, and System Integration Ročník 17; číslo 1; s. 106 - 121
Hlavní autoři: Nakai, Yuta, Namerikawa, Toru
Médium: Journal Article
Jazyk:angličtina
Vydáno: Taylor & Francis Group 31.12.2024
Témata:
cav
control barrier function
mixed integer programming problem
optimal control
signal-free intersection
ISSN:1882-4889, 1884-9970
On-line přístup:Získat plný text
Tagy: Přidat tag
Žádné tagy, Buďte první, kdo vytvoří štítek k tomuto záznamu!
Abstract This research deals with the cooperative control of CAVs (Connected and Automated Vehicles) at signal-free intersection. CAVs communicate with each other and adjust their speeds to safely pass through the intersection without having to stop. This is expected to improve intersection throughput and reduce fuel consumption. In order to execute cooperative control, a two-stage control structure is considered. In the first stage, the merging time, defined for each CAV as the time at which the CAV reaches the intersection, is obtained by solving mixed integer linear programming (MILP). In the second stage, each CAV solves an optimal control problem to determine the control input that allows it to reach the intersection at the merging time obtained in the first stage. In this research, a nonlinear model that considers air resistance, rolling resistance, and slope resistance is used to take into account the real environment. We propose a method using a control barrier function to guarantee the safety of CAVs even with nonlinear models , and an input correction method using a disturbance observer to suppress modelling errors caused by complex dynamics. We also propose a method that consists of establishing a speed regulation zone to avoid the possibility of passing through an intersection at an unsafe speed to improve throughput. Finally, a comparison with previous studies shows the superiority of the proposed method in reducing fuel consumption.
AbstractList This research deals with the cooperative control of CAVs (Connected and Automated Vehicles) at signal-free intersection. CAVs communicate with each other and adjust their speeds to safely pass through the intersection without having to stop. This is expected to improve intersection throughput and reduce fuel consumption. In order to execute cooperative control, a two-stage control structure is considered. In the first stage, the merging time, defined for each CAV as the time at which the CAV reaches the intersection, is obtained by solving mixed integer linear programming (MILP). In the second stage, each CAV solves an optimal control problem to determine the control input that allows it to reach the intersection at the merging time obtained in the first stage. In this research, a nonlinear model that considers air resistance, rolling resistance, and slope resistance is used to take into account the real environment. We propose a method using a control barrier function to guarantee the safety of CAVs even with nonlinear models , and an input correction method using a disturbance observer to suppress modelling errors caused by complex dynamics. We also propose a method that consists of establishing a speed regulation zone to avoid the possibility of passing through an intersection at an unsafe speed to improve throughput. Finally, a comparison with previous studies shows the superiority of the proposed method in reducing fuel consumption.
Author Nakai, Yuta
Namerikawa, Toru
Author_xml – sequence: 1
  givenname: Yuta
  orcidid: 0009-0001-8815-7832
  surname: Nakai
  fullname: Nakai, Yuta
– sequence: 2
  givenname: Toru
  surname: Namerikawa
  fullname: Namerikawa, Toru
BookMark eNo9kNtKAzEURYNUsNZ-gpAfmJpkMrk8luKlUPBB7WvIJCclZZyUZBT8e6cXfTqbzWGxWbdo0qceELqnZEGJIg9UKcaV0gtGGF-wuhZC1VdoOva80lqSySmz6vh0g-al7AkhTFMqNZ2i7ZsNgF1KB8h2iN_H3A85dTgFvFpuC7YDLnHX264KGQDHfoBcwA0x9fir95BxBtvFMkSHi4Pe5pjKHboOtiswv9wZ-nh6fF-9VJvX5_VqualcrchQ-bax42xHoAHtWes501IoF4JoNYNxtmi0anSgTHDPNUhac9ZSybgAaXk9Q-sz1ye7N4ccP23-MclGcypS3hmbx2UdGKG8ZCCa1jvBqfCKSskDBNkG1TJwI6s5s1xOpWQI_zxKzNG1-XNtjq7NxXX9C6x4c5k
Cites_doi 10.1016/S0005-1098(99)00113-2
10.9746/jcmsi.13.30
10.1109/MITS.2020.3014074
10.1109/CDC.2015.7402953
10.1109/TIV
10.1109/CDC51059.2022.9992572
10.23919/SICE59929.2023.10354125
10.1109/TCST.2012.2198478
10.1109/TITS.2022.3151080
10.1109/TVT.2022.3169907
10.1109/CDC40024.2019.9029703
10.1109/TIE.41
10.1109/TIV.2021.3096993
10.1109/TITS.2020.3026160
10.1016/j.automatica.2018.03.056
10.1109/ACCESS.2018.2871337
10.23919/ACC.2018.8430865
10.1109/TITS.2017.2735628
10.1109/TITS.6979
10.23919/SICE56594.2022.9905760
ContentType Journal Article
DBID AAYXX
CITATION
DOA
DOI 10.1080/18824889.2024.2336683
DatabaseName CrossRef
DOAJ Directory of Open Access Journals
DatabaseTitle CrossRef
DatabaseTitleList
Database_xml – sequence: 1
  dbid: DOA
  name: DOAJ Directory of Open Access Journals
  url: https://www.doaj.org/
  sourceTypes: Open Website
DeliveryMethod fulltext_linktorsrc
Discipline Engineering
EISSN 1884-9970
EndPage 121
ExternalDocumentID oai_doaj_org_article_68d72e65bdc6416d81774fef7bf8b2ec
10_1080_18824889_2024_2336683
GroupedDBID AAYXX
ALMA_UNASSIGNED_HOLDINGS
CITATION
GROUPED_DOAJ
ID FETCH-LOGICAL-c380t-db5a024c0e5e9d2bd429768cff6b92e882659859f1264d49e71342b17246e7a43
IEDL.DBID DOA
ISICitedReferencesCount 1
ISICitedReferencesURI http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=001374374900018&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
ISSN 1882-4889
IngestDate Fri Oct 03 12:31:53 EDT 2025
Sat Nov 29 04:52:49 EST 2025
IsDoiOpenAccess true
IsOpenAccess true
IsPeerReviewed false
IsScholarly true
Issue 1
Language English
LinkModel DirectLink
MergedId FETCHMERGED-LOGICAL-c380t-db5a024c0e5e9d2bd429768cff6b92e882659859f1264d49e71342b17246e7a43
ORCID 0009-0001-8815-7832
OpenAccessLink https://doaj.org/article/68d72e65bdc6416d81774fef7bf8b2ec
PageCount 16
ParticipantIDs doaj_primary_oai_doaj_org_article_68d72e65bdc6416d81774fef7bf8b2ec
crossref_primary_10_1080_18824889_2024_2336683
PublicationCentury 2000
PublicationDate 2024-12-31
PublicationDateYYYYMMDD 2024-12-31
PublicationDate_xml – month: 12
  year: 2024
  text: 2024-12-31
  day: 31
PublicationDecade 2020
PublicationTitle SICE Journal of Control, Measurement, and System Integration
PublicationYear 2024
Publisher Taylor & Francis Group
Publisher_xml – name: Taylor & Francis Group
References e_1_3_3_18_1
e_1_3_3_17_1
e_1_3_3_19_1
e_1_3_3_14_1
e_1_3_3_13_1
e_1_3_3_16_1
e_1_3_3_15_1
e_1_3_3_10_1
Molnar TG (e_1_3_3_24_1) 2022; 31
e_1_3_3_12_1
e_1_3_3_11_1
e_1_3_3_7_1
e_1_3_3_6_1
e_1_3_3_9_1
e_1_3_3_8_1
e_1_3_3_25_1
Bertsimas D (e_1_3_3_22_1) 1997
e_1_3_3_26_1
e_1_3_3_3_1
e_1_3_3_21_1
e_1_3_3_2_1
e_1_3_3_20_1
e_1_3_3_5_1
e_1_3_3_23_1
e_1_3_3_4_1
References_xml – ident: e_1_3_3_23_1
  doi: 10.1016/S0005-1098(99)00113-2
– ident: e_1_3_3_2_1
– ident: e_1_3_3_25_1
– ident: e_1_3_3_5_1
  doi: 10.9746/jcmsi.13.30
– ident: e_1_3_3_4_1
  doi: 10.1109/MITS.2020.3014074
– ident: e_1_3_3_13_1
  doi: 10.1109/CDC.2015.7402953
– ident: e_1_3_3_9_1
  doi: 10.1109/TIV
– ident: e_1_3_3_20_1
  doi: 10.1109/CDC51059.2022.9992572
– ident: e_1_3_3_21_1
  doi: 10.23919/SICE59929.2023.10354125
– ident: e_1_3_3_26_1
  doi: 10.1109/TCST.2012.2198478
– ident: e_1_3_3_19_1
  doi: 10.1109/TITS.2022.3151080
– ident: e_1_3_3_17_1
  doi: 10.1109/TVT.2022.3169907
– volume-title: Introduction to linear optimization
  year: 1997
  ident: e_1_3_3_22_1
– ident: e_1_3_3_14_1
  doi: 10.1109/CDC40024.2019.9029703
– ident: e_1_3_3_6_1
  doi: 10.1109/TIE.41
– ident: e_1_3_3_16_1
  doi: 10.1109/TIV.2021.3096993
– ident: e_1_3_3_10_1
  doi: 10.1109/TITS.2020.3026160
– ident: e_1_3_3_7_1
  doi: 10.1016/j.automatica.2018.03.056
– ident: e_1_3_3_3_1
– ident: e_1_3_3_11_1
  doi: 10.1109/ACCESS.2018.2871337
– ident: e_1_3_3_15_1
  doi: 10.23919/ACC.2018.8430865
– ident: e_1_3_3_8_1
  doi: 10.1109/TITS.2017.2735628
– ident: e_1_3_3_12_1
  doi: 10.1109/TITS.6979
– volume: 31
  start-page: 1
  issue: 4
  year: 2022
  ident: e_1_3_3_24_1
  article-title: Safety-critical control with input delay in dynamic environment
  publication-title: IEEE Trans Control Syst Technol
– ident: e_1_3_3_18_1
  doi: 10.23919/SICE56594.2022.9905760
SSID ssj0002911791
ssj0000547452
Score 2.285763
Snippet This research deals with the cooperative control of CAVs (Connected and Automated Vehicles) at signal-free intersection. CAVs communicate with each other and...
SourceID doaj
crossref
SourceType Open Website
Index Database
StartPage 106
SubjectTerms cav
control barrier function
mixed integer programming problem
optimal control
signal-free intersection
Title Safe cooperative control of CAVs at signal-free intersection under realistic scenarios
URI https://doaj.org/article/68d72e65bdc6416d81774fef7bf8b2ec
Volume 17
WOSCitedRecordID wos001374374900018&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
journalDatabaseRights – providerCode: PRVAON
  databaseName: DOAJ Directory of Open Access Journals
  customDbUrl:
  eissn: 1884-9970
  dateEnd: 99991231
  omitProxy: false
  ssIdentifier: ssj0002911791
  issn: 1882-4889
  databaseCode: DOA
  dateStart: 20210101
  isFulltext: true
  titleUrlDefault: https://www.doaj.org/
  providerName: Directory of Open Access Journals
– providerCode: PRVAWR
  databaseName: Taylor & Francis Open Access
  customDbUrl:
  eissn: 1884-9970
  dateEnd: 99991231
  omitProxy: false
  ssIdentifier: ssj0000547452
  issn: 1882-4889
  databaseCode: 0YH
  dateStart: 20210101
  isFulltext: true
  titleUrlDefault: https://www.tandfonline.com
  providerName: Taylor & Francis
link http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwrZ1LS8QwEMeDLB70ID5xfZGD1-y2eTU5rouLB1kEddlbyROEpV3a6uc3abtST168htIkMyHzD8z8BoB7RTznlqSISaMQZZ4iHcII0jpRzBIvZdtFYfWcLZdivZYvg1ZfMSeswwN3hptyYTPsONPW8CAerEiDYPHOZ9oLjZ2Jt2-SycFjKt7BWEbUWbor2RHJNA1SMhzWWJuC6QQTwrkgv4LRgNnfBpfFMTjqVSGcdas5AXuuOAWHA1bgGVi9Ku-gKcut62DdsM8yh6WH89mqhqqBMRtDbZCvnIMRBFHVbaZVAWOpWAWDQNy0YGYYGU7hlVzW5-B98fg2f0J9UwRkiEgaZDVTYQcmccxJi7UNASU8GYz3XEvswi45k4JJnwapY6l0sVgU66BTKHeZouQCjIqycJcAhvHECOoZt4qq2IRaWhJmEcJwhpUdg8nOOvm2Y1_kaY8U3Zkzj-bMe3OOwUO04c_HEV3dDgSH5r1D878cevUfP7kGB3FhHZHxBoya6tPdgn3z1XzU1V17Vr4BhIDB_g
linkProvider Directory of Open Access Journals
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Safe+cooperative+control+of+CAVs+at+signal-free+intersection+under+realistic+scenarios&rft.jtitle=SICE+Journal+of+Control%2C+Measurement%2C+and+System+Integration&rft.au=Nakai%2C+Yuta&rft.au=Namerikawa%2C+Toru&rft.date=2024-12-31&rft.issn=1882-4889&rft.eissn=1884-9970&rft.volume=17&rft.issue=1&rft.spage=106&rft.epage=121&rft_id=info:doi/10.1080%2F18824889.2024.2336683&rft.externalDBID=n%2Fa&rft.externalDocID=10_1080_18824889_2024_2336683
thumbnail_l http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=1882-4889&client=summon
thumbnail_m http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=1882-4889&client=summon
thumbnail_s http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=1882-4889&client=summon