Cooperative receding horizon conflict resolution at traffic intersections
Paper i proceeding, 2014

In this article, we consider the problem of coordinating a number of vehicles crossing a traffic intersection. The proposed solution is based on a receding horizon formulation with a pre-defined decision order. In this approach, local problems are formulated for each vehicle, which are divided into a finite-time optimal control problem, where collision avoidance is enforced as terminal constraints, and an infinite horizon control problem, which can be solved offline. Feasibility conditions for a given decision sequence are also derived and simulation results are presented.

autonomous driving

conflict resolution techniques

Cooperative control

Författare

Gabriel Rodrigues de Campos

Chalmers, Signaler och system, System- och reglerteknik

Paolo Falcone

Chalmers, Signaler och system, System- och reglerteknik

Henk Wymeersch

Chalmers, Signaler och system, Kommunikation, Antenner och Optiska Nätverk

Robert Hult

Chalmers, Signaler och system, System- och reglerteknik

Jonas Sjöberg

Chalmers, Signaler och system, System- och reglerteknik

Proceedings of the IEEE Conference on Decision and Control

07431546 (ISSN) 25762370 (eISSN)

2932-2937

Styrkeområden

Transport

Ämneskategorier

Robotteknik och automation

Reglerteknik

DOI

10.1109/CDC.2014.7039840

Mer information

Senast uppdaterat

2023-08-08