Optimal Driving Under Traffic Signal Uncertainty
نویسندگان
چکیده
We study driver's optimal trajectory planning under uncertainty in the duration of a traffic light's green phase. interpret this as an control problem with objective minimizing expected cost based on fuel use, discomfort from rapid velocity changes, and time to destination. Treating framework dynamic programming, we show that probability distribution phase durations gives rise sequence Hamilton-Jacobi-Bellman PDEs, which are then solved numerically obtain acceleration/braking policy feedback form. Our numerical examples illustrate approach highlight role conflicting goals shaping drivers’ behavior.
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ژورنال
عنوان ژورنال: IFAC-PapersOnLine
سال: 2022
ISSN: ['2405-8963', '2405-8971']
DOI: https://doi.org/10.1016/j.ifacol.2022.08.076