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Optimal Conflict Resolution for Vehicles With Intersecting and Overlapping Paths

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Title: Optimal Conflict Resolution for Vehicles With Intersecting and Overlapping Paths
Authors: Karlsson, Johan, 1991, Murgovski, Nikolce, 1980, Sjöberg, Jonas, 1964
Source: IEEE Open Journal of Intelligent Transportation Systems. 5:146-159
Subject Terms: Autonomous vehicles, cooperative autonomous driving, model predictive control, intersection management, combinatorial optimization, nonlinear optimization, optimalcontrol
Description: A collaborative centralized model predictive controller solving the problem of autonomous vehicles safely crossing an intersection is presented. The solution gives optimal speed trajectories for each vehicle while considering collision avoidance constraints between vehicles traveling on the same path before, after and/or within the intersection. This extends earlier results, where collision avoidance was only considered for vehicles with intersecting paths, with the possibility of vehicles on the same path and by this, the controller is not only one step closer to handling complex traffic intersections but can now be used for merging and splitting of roads, roundabouts and intersection networks. The proficiency of the extended controller is demonstrated by applying it to a four-way intersection. It is shown that the controller provides smooth, collision free trajectories in scenarios with and without vehicles traveling in the same lane. Further, it is evaluated how the solutions differ when using various cost functions and how the controller handles disturbances in the form of a sudden lane blockage. Lastly, it is discussed how the presented controller could also be extended to handle mixed-traffic scenarios and how soft constraints can be used to avoid infeasibility in the case of missing or noisy traffic data.
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Access URL: https://research.chalmers.se/publication/539866
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  Data: Optimal Conflict Resolution for Vehicles With Intersecting and Overlapping Paths
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  Data: <searchLink fieldCode="AR" term="%22Karlsson%2C+Johan%22">Karlsson, Johan</searchLink>, 1991<br /><searchLink fieldCode="AR" term="%22Murgovski%2C+Nikolce%22">Murgovski, Nikolce</searchLink>, 1980<br /><searchLink fieldCode="AR" term="%22Sjöberg%2C+Jonas%22">Sjöberg, Jonas</searchLink>, 1964
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  Data: <i>IEEE Open Journal of Intelligent Transportation Systems</i>. 5:146-159
– Name: Subject
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  Data: <searchLink fieldCode="DE" term="%22Autonomous+vehicles%22">Autonomous vehicles</searchLink><br /><searchLink fieldCode="DE" term="%22cooperative+autonomous+driving%22">cooperative autonomous driving</searchLink><br /><searchLink fieldCode="DE" term="%22model+predictive+control%22">model predictive control</searchLink><br /><searchLink fieldCode="DE" term="%22intersection+management%22">intersection management</searchLink><br /><searchLink fieldCode="DE" term="%22combinatorial+optimization%22">combinatorial optimization</searchLink><br /><searchLink fieldCode="DE" term="%22nonlinear+optimization%22">nonlinear optimization</searchLink><br /><searchLink fieldCode="DE" term="%22optimalcontrol%22">optimalcontrol</searchLink>
– Name: Abstract
  Label: Description
  Group: Ab
  Data: A collaborative centralized model predictive controller solving the problem of autonomous vehicles safely crossing an intersection is presented. The solution gives optimal speed trajectories for each vehicle while considering collision avoidance constraints between vehicles traveling on the same path before, after and/or within the intersection. This extends earlier results, where collision avoidance was only considered for vehicles with intersecting paths, with the possibility of vehicles on the same path and by this, the controller is not only one step closer to handling complex traffic intersections but can now be used for merging and splitting of roads, roundabouts and intersection networks. The proficiency of the extended controller is demonstrated by applying it to a four-way intersection. It is shown that the controller provides smooth, collision free trajectories in scenarios with and without vehicles traveling in the same lane. Further, it is evaluated how the solutions differ when using various cost functions and how the controller handles disturbances in the form of a sudden lane blockage. Lastly, it is discussed how the presented controller could also be extended to handle mixed-traffic scenarios and how soft constraints can be used to avoid infeasibility in the case of missing or noisy traffic data.
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      – Type: doi
        Value: 10.1109/OJITS.2023.3336533
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      – Text: English
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      – SubjectFull: Autonomous vehicles
        Type: general
      – SubjectFull: cooperative autonomous driving
        Type: general
      – SubjectFull: model predictive control
        Type: general
      – SubjectFull: intersection management
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      – SubjectFull: combinatorial optimization
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      – SubjectFull: nonlinear optimization
        Type: general
      – SubjectFull: optimalcontrol
        Type: general
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      – TitleFull: Optimal Conflict Resolution for Vehicles With Intersecting and Overlapping Paths
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            NameFull: Karlsson, Johan
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            NameFull: Murgovski, Nikolce
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              M: 01
              Type: published
              Y: 2024
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