Tiguan: Energy-aware collision-free control for large-scale connected vehicles

Abstract

Traditional transportation systems in metropolitan areas always suffer from energy inefficiencies, evidenced by its uncoordinated behaviors such as system capacity and traffic demand change. With the advanced networked sensors are prevalent deployed into the autonomous vehicles, the information of system status and traffic demand can be collected in real-time. These information provides the potential to perform different types of coordination and control for autonomous vehicles in large-scale intelligent transportation systems. In this paper, we design a coordination-based energy-aware control method for large-scale connected vehicles, named Tiguan. Tiguan enables an iterative scheme to compute a practicable solution, which all vehicles are controlled on different trajectory paths of ground traffic network while achieving the close to the optimal performance. Safety is guaranteed by enabling vehicle to autonomously coordinate with other vehicles for a road traffic resource, and thus determine which vehicle needs the resource most. Experimental results show that Tiguan can effectively generate a feasible control solution with collision avoidance, and minimizing the energy consumption.