An Asynchronous Algorithm for Optimal Vehicle Coordination at Traffic Intersections
Paper i proceeding, 2017

In this paper we propose an algorithm for vehicle coordination at intersections in order to avoid collisions within the intersection area while optimising an objective given as the sum of individual costs associated with each agent. Extending the results presented in Hult et al. (2016), we develop an algorithm with asynchronous sensitivity updates in order to reduce the time spent in communication. We select which sensitivities to update in order to minimise an upper bound on the contraction of the inexact Newton iterates and introduce a projection of the inexact Newton steps in order to ensure feasibility of the local problems. We prove convergence of our algorithm and test it on a numerical example in order to validate its effectiveness.

vehicle coordination

asynchronous sqp

Författare

Mario Zanon

Chalmers, Signaler och system, System- och reglerteknik, Mekatronik

Sébastien Gros

Chalmers, Signaler och system, System- och reglerteknik, Reglerteknik

Henk Wymeersch

Chalmers, Signaler och system, Kommunikations- och antennsystem, Kommunikationssystem

Paolo Falcone

Chalmers, Signaler och system, System- och reglerteknik, Mekatronik

IFAC-PapersOnLine

24058963 (eISSN)

Vol. 50 1 12008-12014

20th IFAC World Congress
Toulouse, France,

COPPLAR CampusShuttle cooperative perception & planning platform

VINNOVA (2015-04849), 2016-01-01 -- 2018-12-31.

Automated Driving Applications and Technologies for Intelligent Vehicles (AdaptIVe)

Europeiska kommissionen (EU) (EC/FP7/610428), 2014-01-01 -- 2017-06-30.

Ämneskategorier

Maskinteknik

Reglerteknik

Styrkeområden

Informations- och kommunikationsteknik

Energi

DOI

10.1016/j.ifacol.2017.08.2124

Mer information

Senast uppdaterat

2021-07-04