Coordinated Control of Autonomous Vehicles for Traffic Density Reduction at a Signalized Junction: An MPC Approach

2025/06/26 by Sen, Rudra, Subashish Datta, Datta, Subashish
Decision Sciences · #FOS: Electrical engineering #Simulation Techniques and Applications #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · pdf · doi:10.48550/arxiv.2506.21302

openalex publication_date 2025/06/26 · openalex created_date 2025/10/15 · openalex updated_date 2026/07/28

Abstract

The effective and safe management of traffic is a key issue due to the rapid advancement of the urban transportation system. Connected autonomous vehicles (CAVs) possess the capability to connect with each other and adjacent infrastructure, presenting novel opportunities for enhancing traffic flow and coordination. This work proposes a dual-mode model predictive control (MPC) architecture that tackles two interrelated issues: mitigating traffic density at signalized junctions and facilitating seamless, cooperative lane changes in high-density traffic conditions. The objective of this work is to facilitate responsive decision-making for CAVs, thereby enhancing the efficiency and safety of urban mobility. Moreover, we ensure recursive feasibility and convergence of the proposed MPC scheme by the integration of an online-calculated maximal control invariant terminal set. Finally, the efficacy of the proposed approach is validated through numerical simulation.

Citations

• Automated Vehicle Highway Merging: Motion Planning via Adaptive Interactive Mixed-Integer MPC
• Personalized Lane Change Decision Algorithm Using Deep Reinforcement Learning Approach
• Decentralized Optimal Control of Connected Automated Vehicles at Signal-Free Intersections Including Comfort-Constrained Turns and Safety Guarantees
• Cooperative Driving at Unsignalized Intersections Using Tree Search

Related

• A Hierarchical Robust Control Strategy for Decentralized Signal-Free Intersection Management
• MPC-Based Emergency Vehicle-Centered Multi-Intersection Traffic Control
• Cooperation-Aware Lane Change Maneuver in Dense Traffic based on Model Predictive Control with Recurrent Neural Network
• Data-Driven Predictive Control for Connected and Autonomous Vehicles in Mixed Traffic
• Safe and Efficient Coexistence of Autonomous Vehicles with Human-Driven Traffic at Signalized Intersections