Intersection crossing with reduced number of conflicts
Paper i proceeding, 2018

In this paper, an optimization based algorithm
for safe and efficient collaborative driving in intersections is
formulated. The problem is to determine the optimal order
in which vehicles should travel through an intersection under
the assumptions that the longitudinal velocity of all vehicles
can be controlled along a predefined path. In the original
formulation one quadratic optimization program was solved for
each possible crossing order of the vehicles and collisions were
avoided by formulating constraints that only allowed one vehicle
at the time inside the intersection. To make this algorithm
more effective, we formulate less restrictive collision avoidance
constraints by introducing one critical zone for each point where
two predefined paths cross. It is shown that this formulation
leads to a decrease in the number of quadratic optimization
programs that need to be solved to find the best crossing
order. Further, an algorithm is provided that finds the number
of crossing sequences which yield unique formulations of the
optimization program. The results show that when simulating
more complex scenarios, like four vehicles traveling through
an ordinary intersection, the reduction of computational time
and the total time it takes for all vehicles to make it through
the intersection can be significantly reduced using these less
restrictive constraints.

Autonomous vehicles

MPC

Control in intersections

Författare

Johan Karlsson

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

Jonas Sjöberg

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

Nikolce Murgovski

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

Intelligent Transportation Systems
Hawaii, USA,

Ämneskategorier

Beräkningsmatematik

Robotteknik och automation

Reglerteknik

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2018-10-29