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Optimal motion planning for automated vehicles with scheduled arrivals at intersections
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.ORCID iD: 0000-0002-1927-1690
2018 (English)In: 2018 European Control Conference, ECC 2018, Institute of Electrical and Electronics Engineers (IEEE), 2018, p. 1672-1678, article id 8550329Conference paper, Published paper (Refereed)
Abstract [en]

We design and compare three different optimal control strategies for the motion planning of automated vehicles approaching an intersection with scheduled arrivals. The objective is to minimize a combination of energy consumption and deviation from the schedule. The strategies differ in allowed deviations. When taking only vehicles inside the control region into account, the strategy that achieves the lowest energy consumption is the less strict one, albeit at the expense of higher travel times. When traffic conditions beyond the control region are considered, no strategy is able to achieve lower energy consumption or vehicle delay than the strategy that is the most strict in keeping with the schedule. Results suggests that in high traffic situations, from a global energy consumption standpoint, it is best to have vehicles crossing the intersection as soon as possible.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2018. p. 1672-1678, article id 8550329
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-241400DOI: 10.23919/ECC.2018.8550329Scopus ID: 2-s2.0-85059806506ISBN: 9783952426982 (print)OAI: oai:DiVA.org:kth-241400DiVA, id: diva2:1280988
Conference
16th European Control Conference, ECC 2018, Limassol, Cyprus, 12 June 2018 through 15 June 2018
Note

QC 20190121

Available from: 2019-01-21 Created: 2019-01-21 Last updated: 2019-01-21Bibliographically approved

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Wahlberg, Bo

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
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More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
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