Convex modeling of conflict resolution at traffic intersections
Paper in proceeding, 2015

We study the problem of optimally controlling autonomous vehicles to safely cross an intersection. The problem is approached by solving an optimal control subproblem for all permutations of crossing sequences. For a chosen crossing sequence, we show that the subproblem of optimal longitudinal vehicle control, subject to collision avoidance constraints, can be formulated as a convex program. The proposed method transforms the problem from the original time domain to a space domain, and introduces a change of optimization variables by replacing vehicles’ speed with its inverse. A case study is provided showing the effectiveness of the proposed method.

Author

Nikolce Murgovski

Chalmers, Signals and Systems, Systems and control

Gabriel Rodrigues de Campos

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. 54rd IEEE Conference on Decision and Control,CDC 2015 4708-4713 7402953
978-1-4799-7886-1 (ISBN)

Areas of Advance

Transport

Subject Categories

Computational Mathematics

Control Engineering

DOI

10.1109/CDC.2015.7402953

ISBN

978-1-4799-7886-1

More information

Latest update

7/12/2024