Multi-Agent Control of Lane-Switching Automated Vehicles for Energy Efficiency
Abstract
The proliferation of automatic control systems and their connectivity accents the performance of their interactions. In particular, connected and automated vehicles could become high-impact examples thanks to their energy use and productivity effects. Ideally, a controller might collectively optimize all agents' control moves for a given objective. However, limits on computational complexity, incomplete knowledge of the central planner, and risks of a single point of failure make distributed control attractive as well. This paper proposes a collaborative heuristic to approach the performance of centralized control with decentralized-like computational effort. The related centralized controller is also described in detail and evaluated as a baseline. A collaboration-intensive obstacle avoidance scenario involving electric vehicles is simulated to demonstrate benefits over fully decentralized control. While centralized optimization performed best with an 8.6 % energy reduction, the collaborative decentralized scheme reached a favorable computation-performance tradeoff with a 6.7 % energy reduction.
- Authors:
- Publication Date:
- Research Org.:
- Clemson Univ., SC (United States)
- Sponsoring Org.:
- USDOE Office of Energy Efficiency and Renewable Energy (EERE), Transportation Office. Vehicle Technologies Office
- OSTI Identifier:
- 1863226
- DOE Contract Number:
- EE0008232
- Resource Type:
- Conference
- Journal Name:
- 2020 American Control Conference (ACC)
- Additional Journal Information:
- Conference: 2020 American Control Conference (ACC) Denver, CO, USA 1-3 July 2020
- Country of Publication:
- United States
- Language:
- English
Citation Formats
Dollar, R. Austin, Sciarretta, Antonio, and Vahidi, Ardalan. Multi-Agent Control of Lane-Switching Automated Vehicles for Energy Efficiency. United States: N. p., 2020.
Web. doi:10.23919/acc45564.2020.9147336.
Dollar, R. Austin, Sciarretta, Antonio, & Vahidi, Ardalan. Multi-Agent Control of Lane-Switching Automated Vehicles for Energy Efficiency. United States. https://doi.org/10.23919/acc45564.2020.9147336
Dollar, R. Austin, Sciarretta, Antonio, and Vahidi, Ardalan. 2020.
"Multi-Agent Control of Lane-Switching Automated Vehicles for Energy Efficiency". United States. https://doi.org/10.23919/acc45564.2020.9147336. https://www.osti.gov/servlets/purl/1863226.
@article{osti_1863226,
title = {Multi-Agent Control of Lane-Switching Automated Vehicles for Energy Efficiency},
author = {Dollar, R. Austin and Sciarretta, Antonio and Vahidi, Ardalan},
abstractNote = {The proliferation of automatic control systems and their connectivity accents the performance of their interactions. In particular, connected and automated vehicles could become high-impact examples thanks to their energy use and productivity effects. Ideally, a controller might collectively optimize all agents' control moves for a given objective. However, limits on computational complexity, incomplete knowledge of the central planner, and risks of a single point of failure make distributed control attractive as well. This paper proposes a collaborative heuristic to approach the performance of centralized control with decentralized-like computational effort. The related centralized controller is also described in detail and evaluated as a baseline. A collaboration-intensive obstacle avoidance scenario involving electric vehicles is simulated to demonstrate benefits over fully decentralized control. While centralized optimization performed best with an 8.6 % energy reduction, the collaborative decentralized scheme reached a favorable computation-performance tradeoff with a 6.7 % energy reduction.},
doi = {10.23919/acc45564.2020.9147336},
url = {https://www.osti.gov/biblio/1863226},
journal = {2020 American Control Conference (ACC)},
number = ,
volume = ,
place = {United States},
year = {Mon Jul 27 00:00:00 EDT 2020},
month = {Mon Jul 27 00:00:00 EDT 2020}
}