An approximate solution to the optimal coordination problem for autonomous vehicles at intersections
Paper in proceedings, 2015

In this paper, we address the problem of optimal and safe coordination of autonomous vehicles through a traffic intersection. We state the problem as a finite time, constrained optimal control problem, a combinatorial optimization problem that is difficult to solve in real-time. A low complexity computational scheme is proposed, based on a hierarchical decomposition of the original optimal control formulation, where a central coordination problem is solved together with a number of local optimal control problems for each vehicle. We show how the proposed decomposition allows a reduction of the complexity of the central problem, provided that approximated parametric solutions of the local problems are available beforehand. We derive conditions for the construction of the parametric approximations and demonstrate the method with a numerical example.

Author

Robert Hult

Chalmers, Signals and Systems, Systems and control, Mechatronics

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, Communication and Antenna Systems, Communication Systems

American Control Conference

0743-1619 (ISSN)

Vol. 2015 763-768 7170826

Areas of Advance

Transport

Subject Categories

Computational Mathematics

Vehicle Engineering

Control Engineering

DOI

10.1109/ACC.2015.7170826

ISBN

9781479917730

More information

Created

10/7/2017