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A Distributed Algorithm for Optimal Vehicle Coordination at Traffic Intersecitons

Yuning Jiang ; Mario Zanon (Institutionen för elektroteknik) ; Robert Hult (Institutionen för elektroteknik) ; Boris Houska
Proceedings of the 20th World Congress of the International Federation of Automatic Control (2017)
[Konferensbidrag, refereegranskat]

Automated vehicle coordination can be used to control vehicles across traffic intersections safely and efficiently. This paper proposes a novel parallelizable algorithm, which solves the coordination problem at traffic intersections under a given precedence order by using a tailored variant of the augmented Lagrangian based alternating direction inexact Newton method (ALADIN). Here, each vehicle solves its own optimal control problem and exchanges information about arrivial and departure times at the intersection with its neighbors such that collisions are avoided. We illustrate the performance of ALADIN by analyzing two scenarios, one during rush hour and one at low-traffic conditions.



Denna post skapades 2017-11-29.
CPL Pubid: 253430

 

Institutioner (Chalmers)

Institutionen för elektroteknik

Ämnesområden

Reglerteknik

Chalmers infrastruktur