论文标题
连接和自动化车辆的屏障认证最佳协调框架
A Barrier-Certified Optimal Coordination Framework for Connected and Automated Vehicles
论文作者
论文摘要
在本文中，我们扩展了一个框架，该框架通过使用控制屏障功能集成安全层，以在无信号交叉路口协调连接和自动化车辆（CAV）。首先，在我们的运动计划模块中，每个CAV使用简单的车辆动力学计算最佳控制轨迹。该轨迹不会使任何状态，控制和安全限制都活跃。车辆级跟踪控制器采用组合的前馈反馈控制法来跟踪运动计划模块的最佳轨迹。然后，屏障认证模块充当车辆级跟踪控制器和物理车辆之间的中间层，从车辆级跟踪控制器接收控制定律，并使用逼真的车辆动力学确保没有国家，控制和安全约束都活跃。后者是通过二次程序实现的，该程序可以实时有效地解决。我们通过数值模拟证明了扩展框架的有效性。
In this paper, we extend a framework that we developed earlier for coordination of connected and automated vehicles (CAVs) at a signal-free intersection by integrating a safety layer using control barrier functions. First, in our motion planning module, each CAV computes the optimal control trajectory using simple vehicle dynamics. The trajectory does not make any of the state, control, and safety constraints active. A vehicle-level tracking controller employs a combined feedforward-feedback control law to track the resulting optimal trajectory from the motion planning module. Then, a barrier-certificate module, acting as a middle layer between the vehicle-level tracking controller and physical vehicle, receives the control law from the vehicle-level tracking controller and using realistic vehicle dynamics ensures that none of the state, control, and safety constraints becomes active. The latter is achieved through a quadratic program, which can be solved efficiently in real time. We demonstrate the effectiveness of our extended framework through a numerical simulation.
