The paper addresses a coordination problem for CAVs in mixed traffic settings with HDVs. The goal is to achieve a safe and optimal crossing order for vehicles approaching unsignalized intersections.
The problem is first formulated as a mixed-integer quadratic programming (MIQP) problem, which is computationally expensive for real-time applications. To address this, the authors propose an optimization-based heuristic that monitors platoons of CAVs and HDVs to evaluate whether alternative crossing orders can perform better.
The heuristic first checks for potential future constraint violations between pairs of platoons to determine if a swap in crossing order is needed. It then compares the costs of quadratic programming (QP) formulations associated with the current and alternative orders in a depth-first branching fashion.
Simulations show that the heuristic can be up to a hundred times faster than the original and simplified MIQPs, while yielding solutions close to optimal and with better order consistency.
To Another Language
from source content
arxiv.org
Ключові висновки, отримані з
by Muhammad Far... о arxiv.org 04-23-2024
https://arxiv.org/pdf/2404.14048.pdfГлибші Запити