Cooperative receding horizon conflict resolution at traffic intersections
Paper in proceeding, 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

Paolo Falcone

Chalmers, Signals and Systems, Systems and control

Henk Wymeersch

Chalmers, Signals and Systems, Communication, Antennas and Optical Networks

Robert Hult

Chalmers, Signals and Systems, Systems and control

Jonas Sjöberg

Chalmers, Signals and Systems, Systems and control

Proceedings of the IEEE Conference on Decision and Control

07431546 (ISSN) 25762370 (eISSN)

Vol. 2015-February 2932-2937

Areas of Advance

Transport

Subject Categories

Robotics

Control Engineering

DOI

10.1109/CDC.2014.7039840

More information

Latest update

7/18/2024