Centralized MPC for Autonomous Intersection Crossing
Paper in proceedings, 2016

This paper develops a method for a safe and autonomous intersection crossing. A centralized system controls autonomous vehicles within a certain surrounding of the intersection and generates optimized trajectories for all vehicles in the area. A recently proposed design approach, [10], where this problem is expressed as a convex optimization problem using space sampling instead of time sampling, is formulated as a MPC problem solved by a QP algorithms so that it can be executed in real time. The MPC controller is then integrated in CarMaker using Matlab/Simulink so that the controller can be validated against the advanced vehicle models and sensor models available in CarMaker. Preliminary results of this validation are presented. Also, a method is designed to obtain time gaps between the vehicles to prevent the optimization problem to become infeasible when sensors give noisy measurements.

MPC crossing

Autonomous vehicle

Author

Lea Riegger

Chalmers, Signals and Systems

Markus Carlander

Chalmers, Signals and Systems

Niklas Skog Lidander

Chalmers, Signals and Systems

Nikolce Murgovski

Chalmers, Signals and Systems, Systems and control, Mechatronics

Jonas Sjöberg

Chalmers, Signals and Systems, Systems and control, Mechatronics

IEEE Intelligent Transportation Systems Conference, November 1-4, 2016, Rio de Janeiro, Brazil (2016)

1372-1377 7795736

Areas of Advance

Transport

Infrastructure

ReVeRe (Research Vehicle Resource)

Subject Categories

Embedded Systems

Control Engineering

DOI

10.1109/ITSC.2016.7795736

ISBN

9781509018895

More information

Created

10/7/2017