论文标题
可行性保证使用控制屏障功能的交通合并控制
Feasibility Guaranteed Traffic Merging Control Using Control Barrier Functions
论文作者
论文摘要
我们考虑连接和自动化车辆（CAV）的合并控制问题，旨在共同减少旅行时间和能源消耗，同时提供依赖速度的安全性保证并满足速度和加速约束。应用联合最佳控制和控制屏障函数（OCBF）方法，该方法通过将最佳跟踪问题转换为Quadratic程序（QPS）的顺序，可以有效地获得最佳跟踪不受限制的最佳控制解决方案的控制器，同时保证所有约束的满意度。但是，这些QP可能会变得不可行，尤其是在严格的控制范围下，因此无法保证安全限制。我们通过得出与每个CBF约束相对应的控制依赖性的可行性约束来解决此问题，该约束添加到每个QP中，并证明每个修改后的QP都是可行的。对合并控制问题的广泛模拟说明了可行性的有效性保证了控制器。
We consider the merging control problem for Connected and Automated Vehicles (CAVs) aiming to jointly minimize travel time and energy consumption while providing speed-dependent safety guarantees and satisfying velocity and acceleration constraints. Applying the joint optimal control and control barrier function (OCBF) method, a controller that optimally tracks the unconstrained optimal control solution while guaranteeing the satisfaction of all constraints is efficiently obtained by transforming the optimal tracking problem into a sequence of quadratic programs (QPs). However, these QPs can become infeasible, especially under tight control bounds, thus failing to guarantee safety constraints. We solve this problem by deriving a control-dependent feasibility constraint corresponding to each CBF constraint which is added to each QP and we show that each such modified QP is guaranteed to be feasible. Extensive simulations of the merging control problem illustrate the effectiveness of this feasibility guaranteed controller.
