Optimal cooperative motion planning for vehicles at intersections (original) (raw)

Autonomous cooperative driving: A velocity-based negotiation approach for intersection crossing

16th International IEEE Conference on Intelligent Transportation Systems (ITSC 2013), 2013

In this article, a scenario where several vehicles have to coordinate among them in order to cross a traffic intersection is considered. In this case, the control problem relies on the optimization of a cost function while guaranteeing collision avoidance and the satisfaction of local constraints.

Analysis of reservation algorithms for cooperative planning at intersections

13th International IEEE Conference on Intelligent Transportation Systems, 2010

Intersections concentrate a too important number of accidents. It is quite obvious they are dangerous places because it is where cars potentially collide due to intersecting trajectories, as opposed to "normal" roads where they are parallel. This paper present a framework designed initially for cybercars (fully automated cars) but that could also be applied -though with major differences -to human driven cars. It is a world where vehicles have to reserve pieces of roads to cross a junction. This work is an enhancement of a previous work that demonstrated the feasibility of such a reservation algorithm.

Optimal Coordination of Automated Vehicles at Intersections: Theory and Experiments

IEEE Transactions on Control Systems Technology

With the introduction of Cooperative Automated Vehicles, traffic lights can be replaced by coordination algorithms. In this paper, we present a bi-level, model predictive controller for coordination of automated vehicles at intersection. The bilevel controller consists of a coordination level, where intersection occupancy timeslots are allocated, and vehicle-level controllers, where the control commands for the vehicles are computed. We establish persistent feasibility and stability of the bi-level controller under some mild assumptions, and derive conditions under which closed-loop collision avoidance can be ensured with bounded position uncertainty. We thereafter detail an implementation of the coordination controller on a three-vehicle test bed, where the intersection-level optimization problem is solved using a distributed Sequential Quadratic Programming (SQP) method. We present and discuss results from an extensive experimental campaign where the proposed controller was validated. The experimental results indicate the practical applicability of the proposed controller, and validates that safety can be ensured for large positioning uncertainties.

GAMEOPT: Optimal Real-time Multi-Agent Planning and Control for Dynamic Intersections

2022

We propose GAMEOPT: a novel hybrid approach to cooperative intersection control for dynamic, multi-lane, unsignalized intersections. Safely navigating these complex and accident prone intersections requires simultaneous trajectory planning and negotiation among drivers. GAMEOPT is a hybrid formulation that first uses an auction mechanism to generate a priority entrance sequence for every agent, followed by an optimization-based trajectory planner that computes velocity controls that satisfy the priority sequence. This coupling operates at real-time speeds of less than 10 milliseconds in high density traffic of more than 10, 000 vehicles/hr, 100× faster than other fully optimization-based methods, while providing guarantees in terms of fairness, safety, and efficiency. Tested on the SUMO simulator, our algorithm improves throughput by at least 25%, time taken to reach the goal by 75%, and fuel consumption by 33% compared to auction-based approaches and signaled approaches using traffic-lights and stop signs.

Priority-based intersection management with kinodynamic constraints

2014 European Control Conference (ECC), 2014

We consider the problem of coordinating a collection of robots at an intersection area taking into account dynamical constraints due to actuator limitations. We adopt the coordination space approach, which is standard in multiple robot motion planning. Assuming the priorities between robots are assigned in advance and the existence of a collision-free trajectory respecting those priorities, we propose a provably safe trajectory planner satisfying kinodynamic constraints. The algorithm is shown to run in real time and to return safe (collision-free) trajectories. Simulation results on synthetic data illustrate the benefits of the approach.

GAMEOPT: Optimal Real-time Multi-Agent Planning and Control at Dynamic Intersections

2022

Unsignalized intersections are one of the more complex and prone to accident scenarios in modern transportation networks. Cooperation among Connected Autonomous Vehicles (CAVs) is a promising approach to unsignalized intersection control providing increased safety, efficiency and fairness. We propose a novel hybrid approach to navigating these dynamic, multi-lane, intersections. Our algorithm consists of a hybrid formulation that first uses an auction mechanism to generate a priority entrance sequence for all the agents, followed by an optimization-based trajectory planner that computes the optimal velocity commands that respects the priority sequence. This coupling allows for real-time capable operation in high density multi-agent traffic, while providing formal guarantees in terms of fairness, safety, and efficiency. Our approach can operate at real-time speeds (< 10 milliseconds), which is at least 100× faster than other fully optimization-based methods. Tested on the SUMO sim...

Optimisation-based coordination of connected, automated vehicles at intersections

Vehicle System Dynamics

In this paper, we analyse the performance of a model predictive controller for coordination of connected, automated vehicles at intersections. The problem has combinatorial complexity, and we propose to solve it approximately by using a two stage procedure where (1) the vehicle crossing order in which the vehicles cross the intersection is found by solving a mixed integer quadratic program and (2) the control commands are subsequently found by solving a nonlinear program. We show that the controller is persistently safe and compare its performance against traffic lights and two simpler optimisationbased coordination schemes. The results show that our approach outperforms the considered alternatives in terms of both energy consumption and travel-time delay, especially for medium to high traffic loads.

Priority-based coordination of autonomous and legacy vehicles at intersection

17th International IEEE Conference on Intelligent Transportation Systems (ITSC), 2014

Recently, researchers have proposed various autonomous intersection management techniques that enable autonomous vehicles to cross the intersection without traffic lights or stop signs. In particular, a priority-based coordination system with provable collision-free and deadlock-free features has been presented. In this paper, we extend the priority-based approach to support legacy vehicles without compromising above-mentioned features. We make the hypothesis that legacy vehicles are able to keep a safe distance from their leading vehicles. Then we explore some special configurations of system that ensures the safe crossing of legacy vehicles. We implement the extended system in a realistic traffic simulator SUMO. Simulations are performed to demonstrate the safety and efficiency of the system.