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Centralized MPC for Autonomous Intersection Crossing

Lea Riegger (Institutionen för signaler och system) ; Markus Carlander (Institutionen för signaler och system) ; Niklas Skog Lidander (Institutionen för signaler och system) ; Nikolce Murgovski (Institutionen för signaler och system, Mekatronik) ; Jonas Sjöberg (Institutionen för signaler och system, Mekatronik)
IEEE Intelligent Transportation Systems Conference, November 1-4, 2016, Rio de Janeiro, Brazil (2016) p. 1372-1377. (2016)
[Konferensbidrag, refereegranskat]

This paper develops a method for a safe and autonomous intersection crossing. A centralized system controls autonomous vehicles within a certain surrounding of the intersection and generates optimized trajectories for all vehicles in the area. A recently proposed design approach, [10], where this problem is expressed as a convex optimization problem using space sampling instead of time sampling, is formulated as a MPC problem solved by a QP algorithms so that it can be executed in real time. The MPC controller is then integrated in CarMaker using Matlab/Simulink so that the controller can be validated against the advanced vehicle models and sensor models available in CarMaker. Preliminary results of this validation are presented. Also, a method is designed to obtain time gaps between the vehicles to prevent the optimization problem to become infeasible when sensors give noisy measurements.

Nyckelord: Autonomous vehicle, MPC crossing

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Denna post skapades 2016-11-28. Senast ändrad 2017-06-28.
CPL Pubid: 245675


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Institutioner (Chalmers)

Institutionen för signaler och system (1900-2017)
Institutionen för signaler och system, Mekatronik (2005-2017)


Inbäddad systemteknik

Chalmers infrastruktur

ReVeRe (Research Vehicle Resource)