Cooperative receding horizon conflict resolution at traffic intersections
Paper in proceedings, 2014

In this article, we consider the problem of coordinating a number of vehicles crossing a traffic intersection. The proposed solution is based on a receding horizon formulation with a pre-defined decision order. In this approach, local problems are formulated for each vehicle, which are divided into a finite-time optimal control problem, where collision avoidance is enforced as terminal constraints, and an infinite horizon control problem, which can be solved offline. Feasibility conditions for a given decision sequence are also derived and simulation results are presented.

autonomous driving

conflict resolution techniques

Cooperative control

Author

Gabriel Rodrigues de Campos

Chalmers, Signals and Systems, Systems and control, Mechatronics

Paolo Falcone

Chalmers, Signals and Systems, Systems and control, Mechatronics

Henk Wymeersch

Chalmers, Signals and Systems, Kommunikationssystem, informationsteori och antenner, Communication Systems

Robert Hult

Chalmers, Signals and Systems, Systems and control, Mechatronics

Jonas Sjöberg

Chalmers, Signals and Systems, Systems and control, Mechatronics

Proceedings of the 53rd IEEE Annual Conference on Decision and Control, CDC 2014, Los Angeles, United States, 15-17 December 2014

0743-1546 (ISSN)

2932-2937

Areas of Advance

Transport

Subject Categories

Robotics

Control Engineering

DOI

10.1109/CDC.2014.7039840

More information

Created

10/7/2017