Optimal Coordination of Automated Vehicles at Intersections with Turns
Paper i proceeding, 2019

In this paper we address the problem of co- ordinating automated vehicles at intersections, with a spe- cial focus on turning maneuvers. The inclusion of rear-end collision avoidance constraints into the problem is decided during turning maneuvers by a smooth function of the vehicle state, rather than integer variables. Moreover, curvature-based acceleration constraints are introduced, which limit the velocity of the vehicle during the turn, and a term in the objective function accounts for passenger comfort. We discuss how the coordination problem is formulated as a nonlinear program and show though simulations that for practical problem instances the proposed approximation is either exact or introduces very little conservativeness.

Intersection Coordination

Optimal Control

Automated Vehicles

Författare

Robert Hult

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

Mario Zanon

IMT Alti Studi Lucca

Sébastien Gros

Chalmers, Elektroteknik, System- och reglerteknik, Reglerteknik

Paolo Falcone

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

2019 18TH EUROPEAN CONTROL CONFERENCE (ECC)

225-230

European Control Conference 2019
Naples, Italy,

Distribuerad koordinering av mobila nätverks system i okända miljöer

Vetenskapsrådet (VR), 2013-01-01 -- 2016-01-01.

Styrkeområden

Transport

Ämneskategorier

Reglerteknik

DOI

10.23919/ECC.2019.8795770

Mer information

Senast uppdaterat

2019-11-25