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Optimal lane-free crossing of CAVs through intersections

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posted on 2023-06-10, 04:41 authored by Mahdi Amouzadi, Mobolaji Olawumi Orisatoki, Arash M. DizqahArash M. Dizqah
Connected and autonomous vehicles (CAVs), unlike conventional cars, will utilise the whole space of intersections and cross in a lane-free order. This paper formulates such a lanefree crossing of intersections as a multi-objective optimal control problem (OCP) that minimises the overall crossing time, as well as the energy consumption due to the acceleration of CAVs. The constraints that avoid collision of vehicles with each other and with road boundaries are smoothed by applying the dual problem theory of convex optimisation. The developed algorithm is capable of finding the lower boundary of the crossing time of a junction which can be used as a benchmark for comparing other intersection crossing algorithms. Simulation results show that the lane-free crossing time is better by an average of 40% as compared to the state-of-the-art reservation-based method, whilst consuming the same amount of energy. Furthermore, it is shown that the lane-free crossing time through intersections is fixed to a constant value regardless of the number of CAVs.

History

Publication status

  • Published

File Version

  • Published version

Journal

IEEE Transactions on Vehicular Technology

ISSN

0018-9545

Publisher

IEEE

Page range

1-13

Department affiliated with

  • Engineering and Design Publications

Notes

© 20XX IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

Full text available

  • Yes

Peer reviewed?

  • Yes

Legacy Posted Date

2022-09-12

First Open Access (FOA) Date

2022-09-12

First Compliant Deposit (FCD) Date

2022-09-09

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