US 12,367,771 B2
Hierarchical optimization-based coordinated control of traffic rules and mixed traffic in multi-intersection environments
Rien Quirynen, Cambridge, MA (US); Nilesh Suriyarachchi, College Park, MD (US); and Stefano Di Cairano, Cambridge, MA (US)
Assigned to Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US)
Filed by Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US)
Filed on Mar. 9, 2023, as Appl. No. 18/180,888.
Prior Publication US 2024/0331535 A1, Oct. 3, 2024
Int. Cl. G08G 1/16 (2006.01); G08G 1/01 (2006.01); G08G 1/081 (2006.01); G08G 1/09 (2006.01)
CPC G08G 1/164 (2013.01) [G08G 1/0112 (2013.01); G08G 1/0116 (2013.01); G08G 1/0129 (2013.01); G08G 1/0133 (2013.01); G08G 1/0145 (2013.01); G08G 1/081 (2013.01); G08G 1/091 (2013.01); G08G 1/166 (2013.01)] 22 Claims
OG exemplary drawing
 
1. A traffic control system for jointly controlling one or multiple connected and automated vehicles (CAVs) and one or multiple human-driven vehicles (HDVs) moving across multiple intersections of roads subject to integer constraints for crossing each of the multiple intersections, comprising: at least one processor; and a memory having instructions stored thereon that, when executed by the at least one processor, cause the traffic control system to:
collect digital representation of states of each of the CAVs, each of the HDVs, and each of traffic signs regulating traffic on the roads;
solve an optimization problem jointly optimizing traffic flows based on a macroscopic traffic flow model in a centralized traffic controller (CTC) for the multiple intersections using convex optimization subject to convex relaxation of the integer constraints for crossing each of the multiple intersections;
solve, individually for each of the multiple intersections, a multi-variable mixed-integer programming (MIP) problem in each of multiple intersection traffic controllers (ITCs) optimizing a cost function, and minimizing tracking errors in traffic flow values of a microscopic traffic flow model with respect to relaxed traffic flow values from the CTC, subject to the integer constraints to produce values of control commands changing states of each of the CAVs associated with an intersection of the multiple intersections and values of control commands changing states of each of the traffic signs associated with the intersection, wherein the cost function is optimized subject to a motion model of a CAV associated with the intersection described by a differential equation relating a control command to the CAV with a change of a state of the CAV, and subject to a motion model of an HDV described by a switch function relating a dynamic traffic rule for the HDV with a state of the HDV and a state of a corresponding traffic sign; and
transmit the optimized values of the control commands to the corresponding CAVs and corresponding traffic signs; and
control the CAVs and traffic signs based on the optimized values of the control commands.