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Parsimonious shooting heuristic for trajectory design of connected automated traffic part II: Computational issues and optimization

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  • Ma, Jiaqi
  • Li, Xiaopeng
  • Zhou, Fang
  • Hu, Jia
  • Park, B. Brian

Abstract

Advanced connected and automated vehicle technologies enable us to modify driving behavior and control vehicle trajectories, which have been greatly constrained by human limits in existing manually-driven highway traffic. In order to maximize benefits from these technologies on highway traffic management, vehicle trajectories need to be not only controlled at the individual level but also coordinated collectively for a stream of traffic. As one of the pioneering attempts to highway traffic trajectory control, Part I of this study (Zhou et al., 2016) proposed a parsimonious shooting heuristic (SH) algorithm for constructing feasible trajectories for a stream of vehicles considering realistic constraints including vehicle kinematic limits, traffic arrival patterns, car-following safety, and signal operations. Based on the algorithmic and theoretical developments in the preceding paper, this paper proposes a holistic optimization framework for identifying a stream of vehicle trajectories that yield the optimum traffic performance measures on mobility, environment and safety. The computational complexity and mobility optimality of SH is theoretically analyzed, and verifies superior computational performance and high solution quality of SH. A numerical sub-gradient-based algorithm with SH as a subroutine (NG-SH) is proposed to simultaneously optimize travel time, a surrogate safety measure, and fuel consumption for a stream of vehicles on a signalized highway section. Numerical examples are conducted to illustrate computational and theoretical findings. They show that vehicle trajectories generated from NG-SH significantly outperform the benchmark case with all human drivers at all measures for all experimental scenarios. This study reveals a great potential of transformative trajectory optimization approaches in transportation engineering applications. It lays a solid foundation for developing holistic cooperative control strategies on a general transportation network with emerging technologies.

Suggested Citation

  • Ma, Jiaqi & Li, Xiaopeng & Zhou, Fang & Hu, Jia & Park, B. Brian, 2017. "Parsimonious shooting heuristic for trajectory design of connected automated traffic part II: Computational issues and optimization," Transportation Research Part B: Methodological, Elsevier, vol. 95(C), pages 421-441.
    • Handle: RePEc:eee:transb:v:95:y:2017:i:c:p:421-441
    DOI: 10.1016/j.trb.2016.06.010
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    References listed on IDEAS

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    5. Li, Xiaopeng & Ghiasi, Amir & Xu, Zhigang & Qu, Xiaobo, 2018. "A piecewise trajectory optimization model for connected automated vehicles: Exact optimization algorithm and queue propagation analysis," Transportation Research Part B: Methodological, Elsevier, vol. 118(C), pages 429-456.
    6. Lu, Gongyuan & Nie, Yu(Marco) & Liu, Xiaobo & Li, Denghui, 2019. "Trajectory-based traffic management inside an autonomous vehicle zone," Transportation Research Part B: Methodological, Elsevier, vol. 120(C), pages 76-98.
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    11. Xiao Xiao & Yunlong Zhang & Xiubin Bruce Wang & Shu Yang & Tianyi Chen, 2021. "Hierarchical Longitudinal Control for Connected and Automated Vehicles in Mixed Traffic on a Signalized Arterial," Sustainability, MDPI, vol. 13(16), pages 1-17, August.
    12. Wang, Hua & Meng, Qiang & Chen, Shukai & Zhang, Xiaoning, 2021. "Competitive and cooperative behaviour analysis of connected and autonomous vehicles across unsignalised intersections: A game-theoretic approach," Transportation Research Part B: Methodological, Elsevier, vol. 149(C), pages 322-346.
    13. Qu, Xiaobo & Yu, Yang & Zhou, Mofan & Lin, Chin-Teng & Wang, Xiangyu, 2020. "Jointly dampening traffic oscillations and improving energy consumption with electric, connected and automated vehicles: A reinforcement learning based approach," Applied Energy, Elsevier, vol. 257(C).
    14. Liu, Qingling & Xu, Xiaowen, 2024. "A platoon-based eco-driving control mechanism for low-density traffic flow," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 637(C).
    15. Liu, Chunyu & Sheng, Zihao & Chen, Sikai & Shi, Haotian & Ran, Bin, 2023. "Longitudinal control of connected and automated vehicles among signalized intersections in mixed traffic flow with deep reinforcement learning approach," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 629(C).
    16. Guan Wang & Jintao Lai & Zhexi Lian & Zhen Zhang, 2023. "An Eco-Driving Strategy Considering Phase-Switch-Based Bus Lane Sharing," Sustainability, MDPI, vol. 15(9), pages 1-20, April.
    17. Qu, Xiaobo & Zhang, Jin & Wang, Shuaian, 2017. "On the stochastic fundamental diagram for freeway traffic: Model development, analytical properties, validation, and extensive applications," Transportation Research Part B: Methodological, Elsevier, vol. 104(C), pages 256-271.
    18. Huifu Jiang & Wei Zhou & Chang Liu & Guosheng Zhang & Meng Hu, 2020. "Safe and Ecological Speed Control for Heavy-Duty Vehicles on Long–Steep Downhill and Sharp-Curved Roads," Sustainability, MDPI, vol. 12(17), pages 1-35, August.
    19. Zhou, Yang & Ahn, Soyoung, 2019. "Robust local and string stability for a decentralized car following control strategy for connected automated vehicles," Transportation Research Part B: Methodological, Elsevier, vol. 125(C), pages 175-196.
    20. Li, Li & Li, Xiaopeng, 2019. "Parsimonious trajectory design of connected automated traffic," Transportation Research Part B: Methodological, Elsevier, vol. 119(C), pages 1-21.
    21. Huifu Jiang & Jia Hu & Byungkyu Brian Park & Meng Wang & Wei Zhou, 2019. "An Extensive Investigation of an Eco-Approach Controller under a Partially Connected and Automated Vehicle Environment," Sustainability, MDPI, vol. 11(22), pages 1-24, November.
    22. Anton Agafonov & Alexander Yumaganov & Vladislav Myasnikov, 2023. "Cooperative Control for Signalized Intersections in Intelligent Connected Vehicle Environments," Mathematics, MDPI, vol. 11(6), pages 1-19, March.
    23. Zhou, Yang & Ahn, Soyoung & Wang, Meng & Hoogendoorn, Serge, 2020. "Stabilizing mixed vehicular platoons with connected automated vehicles: An H-infinity approach," Transportation Research Part B: Methodological, Elsevier, vol. 132(C), pages 152-170.
    24. Zhou, Xuesong, 2017. "Recasting and optimizing intersection automation as a connected-and-automated-vehicle (CAV) scheduling problem: A sequential branch-and-bound search approach in phase-time-traffic hypernetworkAuthor-N," Transportation Research Part B: Methodological, Elsevier, vol. 105(C), pages 479-506.
    25. Wu, Fuliang & Bektaş, Tolga & Dong, Ming & Ye, Hongbo & Zhang, Dali, 2021. "Optimal driving for vehicle fuel economy under traffic speed uncertainty," Transportation Research Part B: Methodological, Elsevier, vol. 154(C), pages 175-206.

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