Optimization-based Coordination of Connected, Automated Vehicles at Intersections
In this paper, we introduce a model predictive controller for coordination of con- nected, automated vehicles at intersections. The problem has combinatorial com- plexity, and we propose to solve it approximately using a two stage procedure where 1) the order in which the vehicles cross the intersection is found by solving a mixed integer quadratic program and 2) the control commands are subsequently found by solving a nonlinear program. We show that the controller is perpetually safe and compare its performance to that of traffic lights and two simpler coordination con- trollers that share central characteristics with most existing work on the topic. The results show that our approach by far outperforms the considered alternatives in terms of both energy consumption and travel-time delay, especially for medium to high traffic loads.
Intelligent Transportation Systems
Model Predictive Control
Connected and Autonomous Vehicles