2022/03/22 by Ehsan Sabouni, Sabouni, Ehsan, Christos G. Cassandras +5 · 3 citations
Computer Science · Engineering · #FOS: Electrical engineering #Real-Time Systems Scheduling #Systems and Control (eess.SY) #Traffic control and management #Vehicular Ad Hoc Networks (VANETs) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2203.12089
openalex publication_date 2022/03/22 · openalex created_date 2022/04/03 · openalex updated_date 2026/07/28
We address the problem of controlling Connected and Automated Vehicles (CAVs) in conflict areas of a traffic network subject to hard safety constraints. It has been shown that such problems can be solved through a combination of tractable optimal control problem formulations and the use of Control Barrier Functions (CBFs) that guarantee the satisfaction of all constraints. These solutions can be reduced to a sequence of Quadratic Programs (QPs) which are efficiently solved on line over discrete time steps. However, the feasibility of each such QP cannot be guaranteed over every time step. To overcome this limitation, we develop an event-driven approach such that the next QP is triggered by properly defined events and show that this approach can eliminate infeasible cases due to time-driven inter-sampling effects. Simulation examples show how overall infeasibilities can be significantly reduced with the proposed event-triggering scheme, while also reducing the need for communication among CAVs without compromising performance.