Energy Efficient Optimization-Based Coordination of Electric Automated Vehicles in Confined Areas
Paper i proceeding, 2023

In this paper, we present an optimization-based control strategy for coordinating multiple electric automated vehicles (AVs) in confined sites. The approach focuses on obtaining and keeping energy-efficient driving profiles for the AVs while avoiding collisions in cross-intersections, narrow roads, and merge crossings. Specifically, the approach is composed of two optimization-based components. The first component obtains the energy-efficient profiles for each individual AV by solving a Nonlinear Program (NLP) for the vehicle's complete mission route. The conflict resolution, which is performed by the second component, is accomplished by solving a time-scheduling Mixed Integer Linear Programming (MILP) problem that exploits the application characteristics. We demonstrate the performance of the algorithm through a non-trivial comparative simulation example with an alternative optimization-based heuristic.

Författare

Stefan Kojchev

Chalmers, Elektroteknik, System- och reglerteknik

Robert Hult

Volvo Group

Jonas Fredriksson

Chalmers, Elektroteknik, System- och reglerteknik

Proceedings of the IEEE Conference on Decision and Control

07431546 (ISSN) 25762370 (eISSN)

3433-3440
9798350301243 (ISBN)

62nd IEEE Conference on Decision and Control, CDC 2023
Singapore, Singapore,

Högintegritetssystem för att säkra säkerheten för automatiserade körsystem

VINNOVA (2018-02708), 2018-10-01 -- 2022-03-01.

Ämneskategorier

Reglerteknik

DOI

10.1109/CDC49753.2023.10383878

Mer information

Senast uppdaterat

2024-09-17