Optimization-based Coordination of Connected, Automated Vehicles at Intersections
Preprint, 2019

In this paper, we introduce a model predictive controller for coordination of con- nected, automated vehicles at intersections. The problem has combinatorial com- plexity, and we propose to solve it approximately using a two stage procedure where 1) the order in which the vehicles cross the intersection is found by solving a mixed integer quadratic program and 2) the control commands are subsequently found by solving a nonlinear program. We show that the controller is perpetually safe and compare its performance to that of traffic lights and two simpler coordination con- trollers that share central characteristics with most existing work on the topic. The results show that our approach by far outperforms the considered alternatives in terms of both energy consumption and travel-time delay, especially for medium to high traffic loads.

Intelligent Transportation Systems

Model Predictive Control

Connected and Autonomous Vehicles

Author

Robert Hult

Chalmers, Electrical Engineering, Systems and control, Mechatronics

Mario Zanon

Chalmers, Electrical Engineering, Systems and control, Mechatronics

Sébastien Gros

Chalmers, Electrical Engineering, Systems and control, Automatic Control

Henk Wymeersch

Chalmers, Electrical Engineering, Communication and Antenna Systems, Communication Systems

Paolo Falcone

Chalmers, Electrical Engineering, Systems and control, Mechatronics

Areas of Advance

Transport

Subject Categories

Control Engineering

More information

Created

3/29/2019