arXiv subjects

Mobolaji Olawumi Orisatoki

Publications and source records attributed to Mobolaji Olawumi Orisatoki.

2 recordsLinked to original sources

arXiv2022

Lane-Free Crossing of CAVs through Intersections as a Minimum-Time Optimal Control Problem

Unlike conventional cars, connected and autonomous vehicles (CAVs) can cross intersections in a lane-free order and utilise the whole area of intersections. This paper presents a minimum-time optimal control problem to centrally control the CAVs to simultaneously cross an intersection in the shortest possible time. Dual problem theory is employed to convexify the constraints of CAVs to avoid collision with each other and with road boundaries. The developed formulation is smooth and solvable by gradient-based algorithms. Simulation results show that the proposed strategy reduces the crossing time of intersections by an average of 52% and 54% as compared to, respectively, the state-of-the-art reservation-based and lane-free methods. Furthermore, the crossing time by the proposed strategy is fixed to a constant value for an intersection regardless of the number of CAVs.

cs.MA↗

arXiv2022

Capacity Analysis of Intersections When CAVs Crossing in a Collaborative and Lane-Free Order

Connected and autonomous vehicles (CAVs) improve the throughput of intersections by crossing in a lane-free order as compared to the signalised crossing of human drivers. However, it is challenging to quantify such an improvement because the available frameworks to analyse the capacity (i.e., the maximum throughput) of the conventional intersections does not apply to the lane-free ones. This paper proposes a novel theoretical framework to numerically simulate and compare the capacity of lane-free and conventional intersections. The results show that the maximum number of vehicles passing through a lane-free intersection is up to seven times more than a signalised intersection managed by the state-of-the-art max-pressure and Webster algorithms. A sensitivity analysis shows that, in contrast to the signalised intersections, the capacity of the lane-free intersections improves by an increase in initial speed, the maximum permissible speed and acceleration of vehicles.

eess.SY↗