A Distributed and Hierarchical Optimal Control Method for Intelligent Connected Vehicles in Multi-Intersection Road Networks
Abstract
:1. Introduction
2. Distributed and Hierarchical Optimal Control Architecture
3. Methodology
3.1. Controller Design for Multi-Intersection Road Networks at the Cloud Decision Layer
- Speed constraints:
- Traffic flow density constraints:
- where , is the prediction step, represents the maximum road speed, and represents the maximum road density.
3.2. Controller Design for ICVs at the Vehicle Control Layer
- Speed constraints: ,
- Acceleration constraints: ,
- Torque constraints: ,
- Speed terminal constraint: ,
- Position terminal constraint: ,
- Torque terminal constraint: ,
- where and , respectively, represent the minimum and maximum speed of the vehicles; and respectively, represent the minimum and maximum acceleration of the vehicles; and , respectively, represent the minimum and maximum torque of the vehicles.
- Speed constraints:
- Acceleration constraints:
- Torque constraints:
- Speed terminal constraint:
- Position terminal constraint with the preceding vehicle:
- Position terminal constraint with the pilot vehicle:
- Torque terminal constraint:
4. Numerical Experiments
4.1. Scenario Settings and Parameters
4.2. Results
4.2.1. Comparison Tests of Traffic Efficiency and Energy-Saving under Different Traffic Flows
4.2.2. Comparison Tests of Traffic Efficiency and Energy Saving under Sensitivity Analysis
5. Conclusions
Author Contributions
Funding
Conflicts of Interest
References
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Physical Meaning/Variables | Numerical Value/Unit |
---|---|
1700/kg | |
110/veh/lane/km | |
70/km/h | |
50/km/h | |
70/km/h | |
20/km/h | |
2/m/s2 | |
−2/m/s2 | |
600/N·m | |
−600/N·m | |
0.65 | |
1/m |
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Yu, J.; Jiang, F.; Kong, W.; Luo, Y. A Distributed and Hierarchical Optimal Control Method for Intelligent Connected Vehicles in Multi-Intersection Road Networks. World Electr. Veh. J. 2022, 13, 34. https://doi.org/10.3390/wevj13020034
Yu J, Jiang F, Kong W, Luo Y. A Distributed and Hierarchical Optimal Control Method for Intelligent Connected Vehicles in Multi-Intersection Road Networks. World Electric Vehicle Journal. 2022; 13(2):34. https://doi.org/10.3390/wevj13020034
Chicago/Turabian StyleYu, Jie, Fachao Jiang, Weiwei Kong, and Yugong Luo. 2022. "A Distributed and Hierarchical Optimal Control Method for Intelligent Connected Vehicles in Multi-Intersection Road Networks" World Electric Vehicle Journal 13, no. 2: 34. https://doi.org/10.3390/wevj13020034