论文标题
使用图形混合整数优化在交叉点上连接车辆的集中协调
Centralized Coordination of Connected Vehicles at Intersections using Graphical Mixed Integer Optimization
论文作者
论文摘要
本文提出了一个集中式多车协调方案，该方案提供未信号的交叉点。整个过程由三个阶段组成：a）目标速度优化：将无碰撞车辆配位作为混合整数线性编程（MILP）问题，每个传入车道代表一个自变量； b）动态车辆选择：通过优化构建有向图，仅保留一些车辆节点来通过应用子集提取算法来协调； c）同步速度曲线计划：以同步方式弥合当前速度和最佳速度之间的差距。问题大小本质上是由车道数而不是车辆的界限。因此，优化过程是实时的，具有保证的解决方案质量。模拟已验证了该方案的效率和实时性能。
This paper proposes a centralized multi-vehicle coordination scheme serving unsignalized intersections. The whole process consists of three stages: a) target velocity optimization: formulate the collision-free vehicle coordination as a Mixed Integer Linear Programming (MILP) problem, with each incoming lane representing an independent variable; b) dynamic vehicle selection: build a directed graph with result of the optimization, and reserve only some of the vehicle nodes to coordinate by applying a subset extraction algorithm; c) synchronous velocity profile planning: bridge the gap between current speed and optimal velocity in a synchronous manner. The problem size is essentially bounded by number of lanes instead of vehicles. Thus the optimization process is realtime with guaranteed solution quality. Simulation has verified efficiency and real-time performance of the scheme.
