Convex modeling of conflict resolution at traffic intersections

We stud the problem of optimally controlling autonomous vehicles to safely cross an intersection. The problem is approached by solving an optimal control subproblem for all permutations of crossing sequences. For a chosen crossing sequence, we show that the subproblem of optimal longitudinal vehicle...

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Bibliographic Details
Published in2015 54th IEEE Conference on Decision and Control (CDC) Vol. 54rd IEEE Conference on Decision and Control,CDC 2015; pp. 4708 - 4713
Main Authors Murgovski, Nikolce, de Campos, Gabriel Rodrigues, Sjoberg, Jonas
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2015
Subjects
Accidents
Collision avoidance
Cost function
Optimal control
Safety
Vehicles
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ISBN9781479978861
1479978868
ISSN0743-1546
2576-2370
DOI10.1109/CDC.2015.7402953

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Summary:We stud the problem of optimally controlling autonomous vehicles to safely cross an intersection. The problem is approached by solving an optimal control subproblem for all permutations of crossing sequences. For a chosen crossing sequence, we show that the subproblem of optimal longitudinal vehicle control, subject to collision avoidance constraints, can be formulated as a convex program. The proposed method transforms the problem from the original time domain to a space domain, and introduces a change of optimization variables by replacing vehicles' speed with its inverse. A case study is provided showing the effectiveness of the proposed method.
ISBN:9781479978861
1479978868
ISSN:0743-1546
2576-2370
DOI:10.1109/CDC.2015.7402953