Experimental Validation of Distributed Optimal Vehicle Coordination
Paper in proceedings, 2018

In this paper we solve the problem of coordinating autonomous vehicles approaching an intersection in experi- ments. We cast the problem in the distributed optimisation framework and use the algorithm proposed in [10], [14] to solve it in real time. We compare two variants of the algorithm in simulations and test our algorithm in experiments using real cars on a test track. The experimental results demonstrate the applicability and real-time feasibility of the algorithm and show that the underlying assumptions are justified.

Author

Mario Zanon

Chalmers, Electrical Engineering, Systems and control, Mechatronics

Robert Hult

Chalmers, Electrical Engineering, Systems and control, Mechatronics

Sébastien Gros

Chalmers, Electrical Engineering, Systems and control, Automatic Control

Paolo Falcone

Chalmers, Electrical Engineering, Systems and control, Mechatronics

2018 European Control Conference (ECC)

1511-1516 8550569

17th European Control Conference, ECC2018
Limassol, Cyprus,

Automated Driving Applications and Technologies for Intelligent Vehicles (AdaptIVe)

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

COPPLAR CampusShuttle cooperative perception & planning platform

VINNOVA, 2016-01-01 -- 2018-12-31.

Distribuerad koordinering av mobila nätverks system i okända miljöer

Swedish Research Council (VR), 2013-01-01 -- 2016-01-01.

Areas of Advance

Transport

Subject Categories

Communication Systems

Vehicle Engineering

Control Engineering

Infrastructure

ReVeRe (Research Vehicle Resource)

DOI

10.23919/ECC.2018.8550569

More information

Latest update

1/23/2019