Distributed Algorithm for Optimal Vehicle Coordination at Traffic Intersections
Paper i proceeding, 2017

Automated vehicle coordination can be used to control vehicles across traffic intersections safely and efficiently. This paper proposes a novel parallelizable algorithm, which solves the coordination problem at traffic intersections under a given precedence order by using a tailored variant of the augmented Lagrangian based alternating direction inexact Newton method (ALADIN). Here, each vehicle solves its own optimal control problem and exchanges information about arrivial and departure times at the intersection with its neighbors such that collisions are avoided. We illustrate the performance of ALADIN by analyzing two scenarios, one during rush hour and one at low-traffic conditions.

Traffic Control

Autonomous Vehicles

Optimal Control

Distributed Optimization


Yuning Jiang

ShanghaiTech University

Mario Zanon

Chalmers, Signaler och system, System- och reglerteknik

Robert Hult

Chalmers, Signaler och system, System- och reglerteknik

Boris Houska

ShanghaiTech University


24058963 (eISSN)

Vol. 50 1 11577-11582

20th IFAC World Congress
Toulouse, France,


Elektroteknik och elektronik



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