Cooperative receding horizon conflict resolution at traffic intersections
Paper i proceeding, 2014

In this article, we consider the problem of coordinating a number of vehicles crossing a traffic intersection. The proposed solution is based on a receding horizon formulation with a pre-defined decision order. In this approach, local problems are formulated for each vehicle, which are divided into a finite-time optimal control problem, where collision avoidance is enforced as terminal constraints, and an infinite horizon control problem, which can be solved offline. Feasibility conditions for a given decision sequence are also derived and simulation results are presented.

autonomous driving

conflict resolution techniques

Cooperative control

Författare

Gabriel Rodrigues de Campos

Chalmers, Signaler och system, System- och reglerteknik, Mekatronik

Paolo Falcone

Chalmers, Signaler och system, System- och reglerteknik, Mekatronik

Henk Wymeersch

Chalmers, Signaler och system, Kommunikationssystem, informationsteori och antenner, Kommunikationssystem

Robert Hult

Chalmers, Signaler och system, System- och reglerteknik, Mekatronik

Jonas Sjöberg

Chalmers, Signaler och system, System- och reglerteknik, Mekatronik

Proceedings of the 53rd IEEE Annual Conference on Decision and Control, CDC 2014, Los Angeles, United States, 15-17 December 2014

0743-1546 (ISSN)

2932-2937

Styrkeområden

Transport

Ämneskategorier

Robotteknik och automation

Reglerteknik

DOI

10.1109/CDC.2014.7039840