Distributed Control of Vehicle Strings Under Finite-Time and Safety Specifications

Tallapragada, Pavankumar and Cortes, Jorge (2018) Distributed Control of Vehicle Strings Under Finite-Time and Safety Specifications. In: IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS, 5 (3). pp. 1399-1411.

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Abstract

This paper studies an optimal control problem for a string of vehicles with safety requirements and finite-time specifications on the approach time to a target region. Our problem formulation is motivated by scenarios involving autonomous vehicles circulating on arterial roads with intelligent management at traffic intersections. We propose a provably correct distributed control algorithm that ensures that the vehicles satisfy the finite-time specifications under speed limits, acceleration saturation, and safety requirements. The safety specifications are such that collisions can be avoided even in cases of communication failure. We also discuss how the proposed distributed algorithm can be integrated with an intelligent intersection manager to provide information about the feasible approach times of the vehicle string and a guaranteed bound of its time of occupancy of the intersection. Our simulation study illustrates the algorithm and its properties regarding approach time, occupancy time, and fuel and time cost.

Item Type:	Journal Article
Publication:	IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS
Publisher:	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Additional Information:	Copy right for this article belong to IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Keywords:	Distributed control; intelligent transportation; networked vehicles; state-based intersection management; vehicle strings
Department/Centre:	Division of Electrical Sciences > Electrical Engineering
Date Deposited:	10 Oct 2018 15:15
Last Modified:	11 Oct 2018 17:01
URI:	http://eprints.iisc.ac.in/id/eprint/60857

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