Optimisation-based coordination of connected, automated vehicles at intersections
Paper i proceeding, 2020

In this paper, we analyse the performance of a model predictive controller for coordination of connected, automated vehicles at intersections. The problem has combinatorial complexity, and we propose to solve it approximately by using a two stage procedure where (1) the vehicle crossing 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 persistently safe and compare its performance against traffic lights and two simpler optimisation-based coordination schemes. The results show that our approach outperforms the considered alternatives in terms of both energy consumption and travel-time delay, especially for medium to high traffic loads.

model predictive control

intelligent transportation systems

Connected and autonomous vehicles

Författare

Robert Hult

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

Mario Zanon

IMT Inst Adv Studies

Sebastien Gros

Norges teknisk-naturvitenskapelige universitet

Chalmers, Elektroteknik, System- och reglerteknik, Reglerteknik

Henk Wymeersch

Chalmers, Elektroteknik, Kommunikations- och antennsystem, Kommunikationssystem

Paolo Falcone

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

Universita Degli Studi Di Modena E Reggio Emilia

Vehicle System Dynamics

0042-3114 (ISSN)

Vol. 58 5 (Special Issue) 726-747

3rd IAVSD Workshop on Dynamics of Road Vehicles
Ann Arbor, MI, USA,

Ämneskategorier

Infrastrukturteknik

Farkostteknik

Reglerteknik

DOI

10.1080/00423114.2020.1755446

Mer information

Senast uppdaterat

2020-06-24