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An approximate solution to the optimal coordination problem for autonomous vehicles at intersections

Robert Hult (Institutionen för signaler och system, Mekatronik) ; Gabriel Rodrigues de Campos (Institutionen för signaler och system, Mekatronik) ; Paolo Falcone (Institutionen för signaler och system, Mekatronik) ; Henk Wymeersch (Institutionen för signaler och system, Kommunikationssystem)
Proceedings of the American Control Conference (0743-1619). Vol. 2015 (2015), p. 763-768.
[Konferensbidrag, refereegranskat]

In this paper, we address the problem of optimal and safe coordination of autonomous vehicles through a traffic intersection. We state the problem as a finite time, constrained optimal control problem, a combinatorial optimization problem that is difficult to solve in real-time. A low complexity computational scheme is proposed, based on a hierarchical decomposition of the original optimal control formulation, where a central coordination problem is solved together with a number of local optimal control problems for each vehicle. We show how the proposed decomposition allows a reduction of the complexity of the central problem, provided that approximated parametric solutions of the local problems are available beforehand. We derive conditions for the construction of the parametric approximations and demonstrate the method with a numerical example.



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Denna post skapades 2015-09-17. Senast ändrad 2016-03-23.
CPL Pubid: 222649

 

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