Optimal trajectory planning meets network-level routing: Integrated control framework for emerging mobility systems

IF 5.9 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica Pub Date : 2025-06-03 DOI:10.1016/j.automatica.2025.112389

Heeseung Bang, Andreas A. Malikopoulos

引用次数: 0

Abstract

This paper introduces a hierarchical decision-making framework for emerging mobility systems that integrates network-level routing with vehicle-level coordination and control. We present an approach that combines flow-based routing for autonomous mobility-on-demand systems with energy-optimal trajectory planning for connected and automated vehicles (CAVs). Our method addresses the critical gap between macroscopic traffic flow optimization and microscopic vehicle control, ensuring that individually planned CAV trajectories collectively realize the system-optimal flow. For the trajectory planning problem, we propose an efficient method of utilizing analytical solutions to solve constrained optimization problems without computational burden. The proposed framework is demonstrated through numerical simulations in urban network scenarios with 100% CAV penetration. Our results illustrate the framework’s ability to generate and implement optimal traffic flows while satisfying safety constraints at the vehicle level.

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最优轨迹规划满足网络级路由：新兴移动系统的集成控制框架

本文介绍了一种用于新兴移动系统的分层决策框架，该框架将网络级路由与车辆级协调和控制相结合。我们提出了一种方法，将基于流量的自主移动按需系统路由与连接和自动车辆（cav）的能量最优轨迹规划相结合。我们的方法解决了宏观交通流优化和微观车辆控制之间的关键差距，确保单独规划的CAV轨迹共同实现系统最优流。针对轨迹规划问题，提出了一种利用解析解求解约束优化问题的有效方法。该框架通过100% CAV渗透率的城市网络场景的数值模拟进行了验证。我们的研究结果表明，该框架能够在满足车辆安全约束的情况下生成和实现最优交通流。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Automatica 工程技术-工程：电子与电气

CiteScore

10.70

自引率

7.80%

发文量

617

审稿时长

5 months

期刊介绍： Automatica is a leading archival publication in the field of systems and control. The field encompasses today a broad set of areas and topics, and is thriving not only within itself but also in terms of its impact on other fields, such as communications, computers, biology, energy and economics. Since its inception in 1963, Automatica has kept abreast with the evolution of the field over the years, and has emerged as a leading publication driving the trends in the field. After being founded in 1963, Automatica became a journal of the International Federation of Automatic Control (IFAC) in 1969. It features a characteristic blend of theoretical and applied papers of archival, lasting value, reporting cutting edge research results by authors across the globe. It features articles in distinct categories, including regular, brief and survey papers, technical communiqués, correspondence items, as well as reviews on published books of interest to the readership. It occasionally publishes special issues on emerging new topics or established mature topics of interest to a broad audience. Automatica solicits original high-quality contributions in all the categories listed above, and in all areas of systems and control interpreted in a broad sense and evolving constantly. They may be submitted directly to a subject editor or to the Editor-in-Chief if not sure about the subject area. Editorial procedures in place assure careful, fair, and prompt handling of all submitted articles. Accepted papers appear in the journal in the shortest time feasible given production time constraints.