Hierarchical Velocity Control Considering Traffic Signal Timings for Connected Vehicles
Lulu Guo, Hongqing Chu, Jin Ye, Bingzhao Gao, Hong Chen
Abstract
Velocity profile optimization using upcoming signal information of urban vehicles is one of the main eco-driving techniques, which can significantly enhance the capability of reducing idling fuel loss and trip time. This paper proposes a hierarchical velocity control system considering different drive preferences for connected and automated vehicles to improve overall efficiency under the vehicle-to-X (V2X) environment. Two major contributions are (i) control-oriented formulation of task planning in multiple road segments, which is amiable to numerical computation and can consider different drive preferences; and (ii) solving the nonlinear velocity trajectory optimization to realize real-time control in the lower level. Simulation results indicate that energy-saving and computational efficiency are improved using the proposed control system. The solution algorithm is further demonstrated under a hardware-in-the-loop simulation.