A Hierarchical Robust Control Strategy for Decentralized Signal-Free Intersection Management

The development of connected and automated vehicles (CAVs) is the key to improving urban mobility safety efficiency. This article focuses on cooperative vehicle management at a signal-free intersection with consideration modeling uncertainties sensor measurement disturbances. problem approached by hierarchical robust control strategy in decentralized traffic coordination framework where optimal tube-based model predictive methods are designed hierarchically solve crossing order velocity trajectories group CAVs terms energy consumption throughput. To capture each vehicle, their powertrain system modeled line an electric drive system. With suitable relaxation spatial approach, optimization problems proposed can be formulated as convex second-order cone programs, which provide unique computationally efficient solution. A rigorous proof equivalence between convexified original also provided. Simulation results illustrate effectiveness robustness reveal impact density study Pareto solutions for energy–time objective shows that minor reduction journey time considerably reduce consumption, emphasizes necessity optimizing tradeoff. Finally, numerical comparisons carried out different prediction horizons sampling intervals insight into design.