Latency-Robust Control of High-Speed Signal-Free Intersections

Yang Liu, Zev Nicolai-Scanio, Zhong Ping Jiang, Li Jin

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

High-speed signal-free intersections are a novel urban traffic operation enabled by connected and autonomous vehicles. However, the impact of communication latency on intersection performance has not been well understood. In this paper, we consider vehicle coordination at signal-free intersections with latency. We focus on two questions: (i) how to ensure latency-resiliency of the coordination algorithm, and (ii) how latency affects the intersection's capacity. We consider a trajectory-based model with bounded speed uncertainties. Latency leads to uncertain state observation. We propose a piecewise-linear control law that ensures safety (avoidance of interference) as long as the initial condition is safe. We also analytically quantify the throughput that the proposed control can attain in the face of latency.

Original languageEnglish (US)
Title of host publication2021 American Control Conference, ACC 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2935-2942
Number of pages8
ISBN (Electronic)9781665441971
DOIs
StatePublished - May 25 2021
Event2021 American Control Conference, ACC 2021 - Virtual, New Orleans, United States
Duration: May 25 2021May 28 2021

Publication series

NameProceedings of the American Control Conference
Volume2021-May
ISSN (Print)0743-1619

Conference

Conference2021 American Control Conference, ACC 2021
Country/TerritoryUnited States
CityVirtual, New Orleans
Period5/25/215/28/21

Keywords

  • connected and autonomous vehicles
  • robust control
  • Signal-free intersections

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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