An approximate solution to the optimal coordination problem for autonomous vehicles at intersections
Paper i proceeding, 2015

In this paper, we address the problem of optimal and safe coordination of autonomous vehicles through a traffic intersection. We state the problem as a finite time, constrained optimal control problem, a combinatorial optimization problem that is difficult to solve in real-time. A low complexity computational scheme is proposed, based on a hierarchical decomposition of the original optimal control formulation, where a central coordination problem is solved together with a number of local optimal control problems for each vehicle. We show how the proposed decomposition allows a reduction of the complexity of the central problem, provided that approximated parametric solutions of the local problems are available beforehand. We derive conditions for the construction of the parametric approximations and demonstrate the method with a numerical example.

Författare

Robert Hult

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

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

American Control Conference

0743-1619 (ISSN)

Vol. 2015 763-768 7170826

Styrkeområden

Transport

Ämneskategorier

Beräkningsmatematik

Farkostteknik

Reglerteknik

DOI

10.1109/ACC.2015.7170826

ISBN

9781479917730