Primal decomposition of the optimal coordination of vehicles at traffic intersections
Paper in proceedings, 2016

In this paper we address the problem of coordinating automated vehicles at intersections, which we state as a constrained finite horizon optimal control problem. We present and study the properties of a primal decomposition of the optimal control problem. More specifically, the decomposition consists of an upper problem that allocates occupancy time-slots in the intersection, and lower-level problems delivering control policies for each vehicle. We investigate the continuity class of the upper problem, and show that it can be efficiently tackled using a standard sequential quadratic programming and that most computations can be distributed and performed by the participating vehicles. The paper is concluded with an illustrative numerical example.

Author

Robert Hult

Chalmers, Signals and Systems, Systems and control, Mechatronics

Mario Zanon

Chalmers, Signals and Systems, Systems and control, Mechatronics

Sébastien Gros

Chalmers, Signals and Systems, Systems and control, Automatic Control

Paolo Falcone

Chalmers, Signals and Systems, Systems and control, Mechatronics

2016 IEEE 55th Conference on Decision and Control, CDC 2016

Vol. 2016 55 Art no 7798649, Pages 2567-2573 7798649

Areas of Advance

Transport

Infrastructure

ReVeRe (Research Vehicle Resource)

Subject Categories

Vehicle Engineering

Robotics

Control Engineering

DOI

10.1109/CDC.2016.7798649

ISBN

978-1-5090-1837-6

More information

Created

10/8/2017