Energy-Optimal Coordination of Autonomous Vehicles at Intersections
Paper i proceeding, 2018

The problem of coordinating automated vehicles at intersections is naturally posed within the optimal control framework, using objectives such as minimization of energy consumption. In this paper we extend previous work to include relevant nonlinearities in the vehicle models and propose a cost function that directly captures both energy consumption and travel time. The problem is a so-called Economic MPC (EMPC) problem, which entails both numerical and theoretical chal- lenges. To address these issues, we propose to use a previously presented procedure to tune a MPC with a quadratic objective to approximate the EMPC. We evaluate the performance of both linear and nonlinear approximating MPC controllers in simulation. In particular, we demonstrate that a standard linear MPC can be tuned to so that the losses with respect to the EMPC is below 1%.

Författare

Robert Hult

Elektroteknik, System- och reglerteknik, Mekatronik

Mario Zanon

Elektroteknik, System- och reglerteknik, Mekatronik

Sébastien Gros

Elektroteknik, System- och reglerteknik, Reglerteknik

Paolo Falcone

Elektroteknik, System- och reglerteknik, Mekatronik

17th European Control Conference, ECC 2018
Limassol, Cyprus,

Styrkeområden

Transport

Ämneskategorier

Beräkningsmatematik

Robotteknik och automation

Reglerteknik