학술논문
A Spatial Searching Method for Planning Under Time-Dependent Constraints for Eco-Driving in Signalized Traffic Intersection
Document Type
Periodical
Author
Source
IEEE Robotics and Automation Letters IEEE Robot. Autom. Lett. Robotics and Automation Letters, IEEE. 6(2):2525-2532 Apr, 2021
Subject
Language
ISSN
2377-3766
2377-3774
2377-3774
Abstract
Typical numerical solutions to planning problems under time-dependent constraints (like traffic signals) involve searching in time plus state space. We consider a sampled discrete spatial formulation of the vehicle dynamics. This allows us to propose an optimal planning algorithm with much reduced search-space and time complexity, for vehicles moving across signalized intersections with full knowledge of the traffic Signal, Phasing and Timing (SPaT) information. Then we extend these results to partial knowledge by casting the problem as a Markov Decision Process (MDP). The proposed algorithms are demonstrated through numerical simulations that show a five-fold improvement in runtime compared with a standard time-state formulation, while providing comparable improvements in fuel economy with no vehicle dynamic constraints or traffic rules violated.