Traffic safety at intersections: a priority based approach for cooperative collision avoidance

Paper in proceeding, 2015

In this paper, we consider the coordination problem of multiple autonomous vehicles at traffic intersections. In particular, we exploit a cooperative, sequential conflict resolution approach based on a pre-defined decision order. Using an optimal control formulation, we show how coordination can be ensured by solving two local problems where collision avoidance is enforced as time-dependent state constraints. We will analyse the feasibility of a given sequence with respect to different decision criteria and present simulation results supporting our results.