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Experimental validation of a semi-distributed sequential quadratic programming method for optimal coordination of automated vehicles at intersections

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Title: Experimental validation of a semi-distributed sequential quadratic programming method for optimal coordination of automated vehicles at intersections
Authors: Hult, Robert, 1984, Zanon, Mario, 1985, Frison, G., Gros, Sebastien, 1977, Falcone, Paolo, 1977
Source: Kooperativa körning vid trafikkorsningar Distribuerad koordinering av mobila nätverks system i okända miljöer COPPLAR CampusShuttle cooperative perception & planning platform Optimal Control Applications and Methods. 41(4):1068-1096
Subject Terms: distributed model predictive control, automated vehicles, distributed nonlinear programming, intersection coordination
Description: In this article, we study the optimal coordination of automated vehicles at intersections. The problem can be stated as an optimal control problem (OCP), which can be decomposed as a bi-level scheme composed by one nonlinear program (NLP) which schedules the access to the intersection and one OCP per vehicle which computes the appropriate vehicle commands. We discuss a practical implementation of the bi-level controller where the NLP is solved with a tailored semi-distributed sequential quadratic programming (SQP) algorithm that enables distribution of most computation to the vehicles. Results from an extensive experimental campaign are presented, where the bi-level controller and the semi-distributed SQP are implemented on a test setup consisting of three automated vehicles. In particular, we show that the vehicle-level controller can enforce the scheduled intersection access beyond the accuracy admitted by the sensor system, and that the bi-level controller can handle large perturbations and large communication delays, which makes the scheme applicable in practical scenarios. Finally, the use of wireless communication introduces delays in the outer control loop. To allow faster feedback, we introduce a real-time iteration (RTI) like variation of the bi-level controller. Experimental and simulated results indicate that the RTI-like variation offers comparable performance using less computation and communication.
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Access URL: https://research.chalmers.se/publication/518014
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  Group: Ti
  Data: Experimental validation of a semi-distributed sequential quadratic programming method for optimal coordination of automated vehicles at intersections
– Name: Author
  Label: Authors
  Group: Au
  Data: <searchLink fieldCode="AR" term="%22Hult%2C+Robert%22">Hult, Robert</searchLink>, 1984<br /><searchLink fieldCode="AR" term="%22Zanon%2C+Mario%22">Zanon, Mario</searchLink>, 1985<br /><searchLink fieldCode="AR" term="%22Frison%2C+G%2E%22">Frison, G.</searchLink><br /><searchLink fieldCode="AR" term="%22Gros%2C+Sebastien%22">Gros, Sebastien</searchLink>, 1977<br /><searchLink fieldCode="AR" term="%22Falcone%2C+Paolo%22">Falcone, Paolo</searchLink>, 1977
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  Label: Source
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  Data: <i>Kooperativa körning vid trafikkorsningar Distribuerad koordinering av mobila nätverks system i okända miljöer COPPLAR CampusShuttle cooperative perception & planning platform Optimal Control Applications and Methods</i>. 41(4):1068-1096
– Name: Subject
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  Data: <searchLink fieldCode="DE" term="%22distributed+model+predictive+control%22">distributed model predictive control</searchLink><br /><searchLink fieldCode="DE" term="%22automated+vehicles%22">automated vehicles</searchLink><br /><searchLink fieldCode="DE" term="%22distributed+nonlinear+programming%22">distributed nonlinear programming</searchLink><br /><searchLink fieldCode="DE" term="%22intersection+coordination%22">intersection coordination</searchLink>
– Name: Abstract
  Label: Description
  Group: Ab
  Data: In this article, we study the optimal coordination of automated vehicles at intersections. The problem can be stated as an optimal control problem (OCP), which can be decomposed as a bi-level scheme composed by one nonlinear program (NLP) which schedules the access to the intersection and one OCP per vehicle which computes the appropriate vehicle commands. We discuss a practical implementation of the bi-level controller where the NLP is solved with a tailored semi-distributed sequential quadratic programming (SQP) algorithm that enables distribution of most computation to the vehicles. Results from an extensive experimental campaign are presented, where the bi-level controller and the semi-distributed SQP are implemented on a test setup consisting of three automated vehicles. In particular, we show that the vehicle-level controller can enforce the scheduled intersection access beyond the accuracy admitted by the sensor system, and that the bi-level controller can handle large perturbations and large communication delays, which makes the scheme applicable in practical scenarios. Finally, the use of wireless communication introduces delays in the outer control loop. To allow faster feedback, we introduce a real-time iteration (RTI) like variation of the bi-level controller. Experimental and simulated results indicate that the RTI-like variation offers comparable performance using less computation and communication.
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        Value: 10.1002/oca.2592
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      – SubjectFull: distributed model predictive control
        Type: general
      – SubjectFull: automated vehicles
        Type: general
      – SubjectFull: distributed nonlinear programming
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      – SubjectFull: intersection coordination
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            NameFull: Hult, Robert
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            NameFull: Zanon, Mario
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              Type: published
              Y: 2020
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            – TitleFull: Kooperativa körning vid trafikkorsningar Distribuerad koordinering av mobila nätverks system i okända miljöer COPPLAR CampusShuttle cooperative perception & planning platform Optimal Control Applications and Methods
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