In this paper we address the problem of coordinating automated vehicles at intersections, with a special focus on turning maneuvers. The inclusion of rear-end collision avoidance constraints into the problem is decided during turning maneuvers by a smooth function of the vehicle state, rather than integer variables. Moreover, curvature-based acceleration constraints are introduced, which limit the velocity of the vehicle during the turn, and a term in the objective function accounts for passenger comfort. We discuss how the coordination problem is formulated as a nonlinear program and show though simulations that for practical problem instances the proposed approximation is either exact or introduces very little conservativeness.

Optimal coordination of automated vehicles at intersections with turns

Zanon M.;
2019

Abstract

In this paper we address the problem of coordinating automated vehicles at intersections, with a special focus on turning maneuvers. The inclusion of rear-end collision avoidance constraints into the problem is decided during turning maneuvers by a smooth function of the vehicle state, rather than integer variables. Moreover, curvature-based acceleration constraints are introduced, which limit the velocity of the vehicle during the turn, and a term in the objective function accounts for passenger comfort. We discuss how the coordination problem is formulated as a nonlinear program and show though simulations that for practical problem instances the proposed approximation is either exact or introduces very little conservativeness.
978-3-907144-00-8
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/20.500.11771/14285
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