Convex modeling of conflict resolution at traffic intersections

We study 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.

Author(s)
Gabriel Rodrigues de Campos, Paolo Falcone, Jonas Sjöberg
Publication type
Published in
54th IEEE Conference on Decision and Control (CDC), Osaka, Japan, Dec 15–18, 2015 p. 4708-4713.
Year of publication
2015

Safer – Vehicle and Traffic Safety Centre

SAFER is the open innovation arena where researchers and expertise work together to create safe mobility. Our traffic safety approach covers people, vehicles and the infrastructure – and together we contribute to safer road transports and smarter, more sustainable cities.

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