Convex modeling of conflict resolution at traffic intersections
Paper i proceeding, 2015

We study the problem of optimally controlling autonomous vehicles to safely cross an intersection. The problem is approached by solving an optimal control subproblem for all permutations of crossing sequences. For a chosen crossing sequence, we show that the subproblem of optimal longitudinal vehicle control, subject to collision avoidance constraints, can be formulated as a convex program. The proposed method transforms the problem from the original time domain to a space domain, and introduces a change of optimization variables by replacing vehicles’ speed with its inverse. A case study is provided showing the effectiveness of the proposed method.

Författare

Nikolce Murgovski

Signaler och system, System- och reglerteknik, Mekatronik

Gabriel Rodrigues de Campos

Signaler och system, System- och reglerteknik, Mekatronik

Jonas Sjöberg

Signaler och system, System- och reglerteknik, Mekatronik

Proceedings of the IEEE Conference on Decision and Control

07431546 (ISSN)

4708-4713 7402953

Styrkeområden

Transport

Ämneskategorier

Beräkningsmatematik

Reglerteknik

DOI

10.1109/CDC.2015.7402953

ISBN

978-1-4799-7886-1