Cooperative receding horizon conflict resolution at traffic intersections

In this article, we consider the problem of coordinating a number of vehicles crossing a traffic intersection. The proposed solution is based on a receding horizon formulation with a pre-defined decision order. In this approach, local problems are formulated for each vehicle, which are divided into a finite-time optimal control problem, where collision avoidance is enforced as terminal constraints, and an infinite horizon control problem, which can be solved offline. Feasibility conditions for a given decision sequence are also derived and simulation results are presented.

[1]  Denis Gillet,et al.  Model predictive coordination of autonomous vehicles crossing intersections , 2013, 16th International IEEE Conference on Intelligent Transportation Systems (ITSC 2013).

[2]  Domitilla Del Vecchio,et al.  Automated Vehicle-to-Vehicle Collision Avoidance at Intersections , 2011 .

[3]  Panganamala Ramana Kumar,et al.  Provable Systemwide Safety in Intelligent Intersections , 2011, IEEE Transactions on Vehicular Technology.

[4]  Domitilla Del Vecchio,et al.  Enforcing safety of cyberphysical systems using flatness and abstraction , 2011, SIGBED.

[5]  Domitilla Del Vecchio,et al.  Cooperative Collision Avoidance at Intersections: Algorithms and Experiments , 2013, IEEE Transactions on Intelligent Transportation Systems.

[6]  Antonio Bicchi,et al.  On optimal cooperative conflict resolution for air traffic management systems , 2000, IEEE Trans. Intell. Transp. Syst..

[7]  James K. Kuchar,et al.  A review of conflict detection and resolution modeling methods , 2000, IEEE Trans. Intell. Transp. Syst..

[8]  Domitilla Del Vecchio,et al.  Efficient algorithms for collision avoidance at intersections , 2012, HSCC '12.

[9]  Jonas Sjöberg,et al.  Autonomous cooperative driving: A velocity-based negotiation approach for intersection crossing , 2013, 16th International IEEE Conference on Intelligent Transportation Systems (ITSC 2013).

[10]  Maria Prandini,et al.  Air traffic complexity in future Air Traffic Management systems , 2012 .

[11]  Martin Törngren,et al.  A reference architecture for cooperative driving , 2013, J. Syst. Archit..

[12]  Kyoung-Dae Kim.  Collision free autonomous ground traffic: A model predictive control approach , 2013, 2013 ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS).