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An approximate solu...
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Hult, Robert,1984Chalmers tekniska högskola,Chalmers University of Technology
(författare)
An approximate solution to the optimal coordination problem for autonomous vehicles at intersections
- Artikel/kapitelEngelska2015
Förlag, utgivningsår, omfång ...
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2015
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electronicrdacarrier
Nummerbeteckningar
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LIBRIS-ID:oai:research.chalmers.se:bfdb9de1-05fe-453b-b347-0bf8c18cec5c
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ISBN:9781479917730
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https://research.chalmers.se/publication/222649URI
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https://doi.org/10.1109/ACC.2015.7170826DOI
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Språk:engelska
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Sammanfattning på:engelska
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Ämneskategori:kon swepub-publicationtype
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Ämneskategori:ref swepub-contenttype
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In this paper, we address the problem of optimal and safe coordination of autonomous vehicles through a traffic intersection. We state the problem as a finite time, constrained optimal control problem, a combinatorial optimization problem that is difficult to solve in real-time. A low complexity computational scheme is proposed, based on a hierarchical decomposition of the original optimal control formulation, where a central coordination problem is solved together with a number of local optimal control problems for each vehicle. We show how the proposed decomposition allows a reduction of the complexity of the central problem, provided that approximated parametric solutions of the local problems are available beforehand. We derive conditions for the construction of the parametric approximations and demonstrate the method with a numerical example.
Ämnesord och genrebeteckningar
Biuppslag (personer, institutioner, konferenser, titlar ...)
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Rodrigues de Campos, Gabriel,1986Chalmers tekniska högskola,Chalmers University of Technology(Swepub:cth)dega
(författare)
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Falcone, Paolo,1977Chalmers tekniska högskola,Chalmers University of Technology(Swepub:cth)falcone
(författare)
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Wymeersch, Henk,1976Chalmers tekniska högskola,Chalmers University of Technology(Swepub:cth)henkw
(författare)
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Chalmers tekniska högskola
(creator_code:org_t)
Sammanhörande titlar
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Ingår i:American Control Conference2015, s. 763-7680743-16199781479917730
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