In this paper, we provide a hierarchical coordination framework for connected and automated vehicles (CAVs) at two adjacent intersections. This framework consists of an upper-level scheduling problem and a low-level optimal control problem. By partitioning the area around two adjacent intersections into different zones, we formulate a scheduling problem for each individual CAV aimed at minimizing its total travel time. For each CAV, the solution of the upper-level problem designates the arrival times at each zones on its path which becomes the inputs of the low-level problem. The solution of the low-level problem yields the optimal control input (acceleration/deceleration) of each CAV to exit the intersections at the time specified in the upper-level scheduling problem. We validate the performance of our proposed hierarchical framework through extensive numerical simulations and comparison with signalized intersections, centralized scheduling, and FIFO queuing policy.
翻译:在本文中,我们为两个相邻十字路口的连接和自动化车辆提供了一个等级协调框架,这一框架包括一个高层调度问题和一个低级别最佳控制问题。通过将两个相邻十字路口周围的区域分割到不同的区域,我们为每个首席航空飞行器制定了一个排程问题,目的是最大限度地减少其总旅行时间。对于每个首席航空飞行器,高层次问题的解决方案指定了每个地区在其道路上的到达时间,从而成为低层次问题的投入。解决低层次问题可以产生每个首席航空飞行器的最佳控制输入(加速/减速),以便在高层排程问题规定的时间内从十字路口退出。我们通过广泛的数字模拟和与信号交叉点、集中排程和FIFO排队政策进行比较,验证了我们提议的等级框架的绩效。