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Traffic safety at intersections: a priority based approach for cooperative collision avoidance

Gabriel Rodrigues de Campos (Institutionen för signaler och system, Mekatronik) ; Paolo Falcone (Institutionen för signaler och system, Mekatronik) ; Jonas Sjöberg (Institutionen för signaler och system, Mekatronik)
Proceedings of the 3rd International Symposium on Future Active Safety Technology Towards zero traffic accidents, 2015 p. 9-15. (2015)
[Konferensbidrag, refereegranskat]

In this paper, we consider the coordination problem of multiple autonomous vehicles at traffic intersections. In particular, we exploit a cooperative, sequential conflict resolution approach based on a pre-defined decision order. Using an optimal control formulation, we show how coordination can be ensured by solving two local problems where collision avoidance is enforced as time-dependent state constraints. We will analyse the feasibility of a given sequence with respect to different decision criteria and present simulation results supporting our results.

Nyckelord: Safety systems, Conflict resolution, Cooperative control, Autonomous driving

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Denna post skapades 2015-11-13. Senast ändrad 2017-06-28.
CPL Pubid: 225740


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Institutioner (Chalmers)

Institutionen för signaler och system, Mekatronik (2005-2017)



Chalmers infrastruktur