Traffic safety at intersections: a priority based approach for cooperative collision avoidance
Paper in proceedings, 2015

In this paper, we consider the coordination problem of multiple autonomous vehicles at traffic intersections. In particular, we exploit a cooperative, sequential conflict resolution approach based on a pre-defined decision order. Using an optimal control formulation, we show how coordination can be ensured by solving two local problems where collision avoidance is enforced as time-dependent state constraints. We will analyse the feasibility of a given sequence with respect to different decision criteria and present simulation results supporting our results.

Autonomous driving

Conflict resolution

Safety systems

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

Jonas Sjöberg

Chalmers, Signals and Systems, Systems and control, Mechatronics

Proceedings of the 3rd International Symposium on Future Active Safety Technology Towards zero traffic accidents, 2015

9-15

Areas of Advance

Transport

Subject Categories

Control Engineering

More information

Created

10/7/2017