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arXiv · 2109.05573

A Priority-Aware Replanning and Resequencing Framework for Coordination of Connected and Automated Vehicles

Behdad Chalaki·Andreas A. Malikopoulos
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Abstract

Deriving optimal control strategies for coordination of connected and automated vehicles (CAVs) often requires re-evaluating the strategies in order to respond to unexpected changes in the presence of disturbances and uncertainties. In this paper, we first extend a decentralized framework that we developed earlier for coordination of CAVs at a signal-free intersection to incorporate replanning. Then, we further enhance the framework by introducing a priority-aware resequencing mechanism which designates the order of decision making of CAVs based on theory from the job-shop scheduling problem. Our enhanced framework relaxes the first-come-first-serve decision order which has been used extensively in these problems. We illustrate the effectiveness of our proposed approach through numerical simulations.

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Behdad Chalaki, Andreas A. Malikopoulos. 2021-09-12. A Priority-Aware Replanning and Resequencing Framework for Coordination of Connected and Automated Vehicles. https://doi.org/10.1109/lcsys.2021.3133416

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