Safety-critical Eco-driving Strategy for Electric Vehicle at Signalized Intersection Using Control Barrier Function

Abstract

This paper proposes a safety-critical eco-driving strategy to reduce the energy consumption of electric vehicles (EV) which is driving through a signalized intersection. First, the energy-optimal control problem is formulated with the goal of minimum battery power consumption with some safety related constraints. Second, the original optimal control problem is converted to a quadratic programming by using Control Barrier Functions (CBF), which can ensure the safety of the ego vehicle from traffic flow. The energy optimal speed profiles are derived to reduce travel delay while ensuring vehicle driving safety. Finally, three driving scenarios are simulated to evaluate the effectiveness of proposed strategy. The results show that the proposed strategy can reduce the EV’s energy consumption dramatically compared to a traditional driving strategy, while the vehicle safety requirement is strictly met.