2023/04/11 by Le, Viet-Anh, Wang, Hao M., Orosz, Gabor +1 · 1 citation
#FOS: Electrical engineering #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · doi:10.48550/arxiv.2304.05314
In this paper, we present an optimal control framework to address motion coordination of connected automated vehicles (CAVs) in the presence of human-driven vehicles (HDVs) in merging scenarios. Our framework combines an unconstrained trajectory solution of a low-level energy-optimal control problem with an upper-level optimization problem that yields the minimum travel time for CAVs. We predict the future trajectories of the HDVs using Newell's car-following model. To handle potential deviations of HDVs' actual behavior from the predicted one, we design a safety filter for CAVs based on control barrier functions. The effectiveness of the proposed control framework is demonstrated via simulations with heterogeneous human driving behaviors.