Optimisation-based coordination of connected, automated vehicles at intersections
Journal article, 2020

In this paper, we analyse the performance of a model predictive controller for coordination of connected, automated vehicles at intersections. The problem has combinatorial complexity, and we propose to solve it approximately by using a two stage procedure where (1) the vehicle crossing 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 persistently safe and compare its performance against traffic lights and two simpler optimisation-based coordination schemes. The results show that our approach outperforms the considered alternatives in terms of both energy consumption and travel-time delay, especially for medium to high traffic loads.

model predictive control

Connected and autonomous vehicles

intelligent transportation systems

Author

Robert Hult

Chalmers, Electrical Engineering, Systems and control, Mechatronics

Mario Zanon

Institutions Markets Technologies, Lucca

Sebastien Gros

Chalmers, Electrical Engineering, Systems and control, Automatic Control

Norwegian University of Science and Technology (NTNU)

Henk Wymeersch

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

Paolo Falcone

Universita Degli Studi Di Modena E Reggio Emilia

Chalmers, Electrical Engineering, Systems and control, Mechatronics

Vehicle System Dynamics

0042-3114 (ISSN)

Vol. 58 5 726-747

Subject Categories

Infrastructure Engineering

Vehicle Engineering

Control Engineering

DOI

10.1080/00423114.2020.1755446

More information

Latest update

8/19/2020