Experimental Validation of Distributed Optimal Vehicle Coordination

Paper in proceeding, 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.