An Asynchronous Algorithm for Optimal Vehicle Coordination at Traffic Intersections
Paper in proceeding, 2017

In this paper we propose an algorithm for vehicle coordination at intersections in order to avoid collisions within the intersection area while optimising an objective given as the sum of individual costs associated with each agent. Extending the results presented in Hult et al. (2016), we develop an algorithm with asynchronous sensitivity updates in order to reduce the time spent in communication. We select which sensitivities to update in order to minimise an upper bound on the contraction of the inexact Newton iterates and introduce a projection of the inexact Newton steps in order to ensure feasibility of the local problems. We prove convergence of our algorithm and test it on a numerical example in order to validate its effectiveness.

vehicle coordination

asynchronous sqp

Author

Mario Zanon

Chalmers, Signals and Systems, Systems and control, Mechatronics

Sébastien Gros

Chalmers, Signals and Systems, Systems and control, Automatic Control

Henk Wymeersch

Chalmers, Signals and Systems, Communication and Antenna Systems, Communication Systems

Paolo Falcone

Chalmers, Signals and Systems, Systems and control, Mechatronics

IFAC-PapersOnLine

24058963 (eISSN)

Vol. 50 1 12008-12014

20th IFAC World Congress
Toulouse, France,

COPPLAR CampusShuttle cooperative perception & planning platform

VINNOVA (2015-04849), 2016-01-01 -- 2018-12-31.

Automated Driving Applications and Technologies for Intelligent Vehicles (AdaptIVe)

European Commission (EC) (EC/FP7/610428), 2014-01-01 -- 2017-06-30.

Subject Categories

Mechanical Engineering

Control Engineering

Areas of Advance

Information and Communication Technology

Energy

DOI

10.1016/j.ifacol.2017.08.2124

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Latest update

7/4/2021 1