Time and Energy-Optimal Lane Change Maneuvers for Cooperating Connected and Automated Vehicles⋆

We derive optimal control policies for a Connected and Automated Vehicle (CAV) cooperating with neighboring CAVs to implement a highway lane change maneuver. We optimize the maneuver time and subsequently minimize the associated energy consumption of all cooperating vehicles in this maneuver. We prove structural properties of the optimal policies which simplify the solution derivations and lead to analytical optimal control expressions. The solutions, when they exist, are guaranteed to satisfy safety constraints for all vehicles involved in the maneuver. Simulation results show the effectiveness of the proposed solution and significant performance improvements compared to maneuvers performed by human-driven vehicles.

[1]  Marjan Hagenzieker,et al.  Road safety knowledge and policy: A historical institutional analysis of the Netherlands , 2014 .

[2]  Jonas Fredriksson,et al.  Longitudinal and lateral control for automated lane change maneuvers , 2015, 2015 American Control Conference (ACC).

[3]  Ding Zhao,et al.  Accelerated Evaluation of Automated Vehicles in Car-Following Maneuvers , 2016, IEEE Transactions on Intelligent Transportation Systems.

[4]  Hossein Nourkhiz Mahjoub,et al.  A Learning-Based Stochastic MPC Design for Cooperative Adaptive Cruise Control to Handle Interfering Vehicles , 2018, IEEE Transactions on Intelligent Vehicles.

[5]  Meng Wang,et al.  Game theoretic approach for predictive lane-changing and car-following control , 2015 .

[6]  Jonas Fredriksson,et al.  Lane Change Maneuvers for Automated Vehicles , 2017, IEEE Transactions on Intelligent Transportation Systems.

[7]  Junichi Murata,et al.  Model Predictive Control of Vehicles on Urban Roads for Improved Fuel Economy , 2013, IEEE Transactions on Control Systems Technology.

[8]  Alexander Katriniok,et al.  Optimal vehicle dynamics control for combined longitudinal and lateral autonomous vehicle guidance , 2013, 2013 European Control Conference (ECC).

[9]  Hossein Nourkhiz Mahjoub,et al.  A Learning-Based Framework for Two-Dimensional Vehicle Maneuver Prediction over V2V Networks , 2017, 2017 IEEE 15th Intl Conf on Dependable, Autonomic and Secure Computing, 15th Intl Conf on Pervasive Intelligence and Computing, 3rd Intl Conf on Big Data Intelligence and Computing and Cyber Science and Technology Congress(DASC/PiCom/DataCom/CyberSciTech).

[10]  Lie Guo,et al.  Trajectory planning and tracking control for autonomous lane change maneuver based on the cooperative vehicle infrastructure system , 2015, Expert Syst. Appl..

[11]  Christos G. Cassandras,et al.  Optimal Control of Autonomous Vehicles for Non-Stop Signalized Intersection Crossing , 2018, 2018 IEEE Conference on Decision and Control (CDC).

[12]  Christos G. Cassandras,et al.  Time and Energy Optimal Lane Change Maneuvers for Cooperating Connected Automated Vehicles , 2019, ArXiv.

[13]  George M. Siouris,et al.  Applied Optimal Control: Optimization, Estimation, and Control , 1979, IEEE Transactions on Systems, Man, and Cybernetics.

[14]  Mikhail Gordon,et al.  Lane Change and Merge Maneuvers for Connected and Automated Vehicles: A Survey , 2016, IEEE Transactions on Intelligent Vehicles.

[15]  Pravin Varaiya,et al.  Smart cars on smart roads: problems of control , 1991, IEEE Trans. Autom. Control..

[16]  Meng Wang,et al.  Cooperative Car-Following Control: Distributed Algorithm and Impact on Moving Jam Features , 2016, IEEE Transactions on Intelligent Transportation Systems.

[17]  Pu Li,et al.  Optimal control-based online motion planning for cooperative lane changes of connected and automated vehicles , 2017, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[18]  Jayantha Katupitiya,et al.  Cooperative autonomous platoon maneuvers on highways , 2013, 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

[19]  Kun Cao,et al.  A dynamic automated lane change maneuver based on vehicle-to-vehicle communication , 2016 .

[20]  Julius Ziegler,et al.  Optimal trajectory generation for dynamic street scenarios in a Frenét Frame , 2010, 2010 IEEE International Conference on Robotics and Automation.