Optimal Conflict Resolution for Vehicles With Intersecting and Overlapping Paths
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 pat...
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| Format: | Article |
| Language: | English |
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IEEE
2024-01-01
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| Series: | IEEE Open Journal of Intelligent Transportation Systems |
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| Online Access: | https://ieeexplore.ieee.org/document/10335957/ |
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| author | Johan Karlsson Nikolce Murgovski Jonas Sjoberg |
| author_facet | Johan Karlsson Nikolce Murgovski Jonas Sjoberg |
| author_sort | Johan Karlsson |
| collection | DOAJ |
| 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. |
| format | Article |
| id | doaj-art-f3175b92f9ae413abec641859b5ecc04 |
| institution | Kabale University |
| issn | 2687-7813 |
| language | English |
| publishDate | 2024-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Open Journal of Intelligent Transportation Systems |
| spelling | doaj-art-f3175b92f9ae413abec641859b5ecc042025-01-24T00:02:47ZengIEEEIEEE Open Journal of Intelligent Transportation Systems2687-78132024-01-01514615910.1109/OJITS.2023.333653310335957Optimal Conflict Resolution for Vehicles With Intersecting and Overlapping PathsJohan Karlsson0Nikolce Murgovski1https://orcid.org/0000-0002-0960-7090Jonas Sjoberg2https://orcid.org/0000-0003-2685-8083Department of Electrical Engineering, Chalmers University of Technology, Gothenburg, SwedenDepartment of Electrical Engineering, Chalmers University of Technology, Gothenburg, SwedenDepartment of Electrical Engineering, Chalmers University of Technology, Gothenburg, SwedenA 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.https://ieeexplore.ieee.org/document/10335957/Autonomous vehiclesmodel predictive controloptimalcontrolcooperative autonomous drivingintersection managementcombinatorial optimization |
| spellingShingle | Johan Karlsson Nikolce Murgovski Jonas Sjoberg Optimal Conflict Resolution for Vehicles With Intersecting and Overlapping Paths IEEE Open Journal of Intelligent Transportation Systems Autonomous vehicles model predictive control optimalcontrol cooperative autonomous driving intersection management combinatorial optimization |
| title | Optimal Conflict Resolution for Vehicles With Intersecting and Overlapping Paths |
| title_full | Optimal Conflict Resolution for Vehicles With Intersecting and Overlapping Paths |
| title_fullStr | Optimal Conflict Resolution for Vehicles With Intersecting and Overlapping Paths |
| title_full_unstemmed | Optimal Conflict Resolution for Vehicles With Intersecting and Overlapping Paths |
| title_short | Optimal Conflict Resolution for Vehicles With Intersecting and Overlapping Paths |
| title_sort | optimal conflict resolution for vehicles with intersecting and overlapping paths |
| topic | Autonomous vehicles model predictive control optimalcontrol cooperative autonomous driving intersection management combinatorial optimization |
| url | https://ieeexplore.ieee.org/document/10335957/ |
| work_keys_str_mv | AT johankarlsson optimalconflictresolutionforvehicleswithintersectingandoverlappingpaths AT nikolcemurgovski optimalconflictresolutionforvehicleswithintersectingandoverlappingpaths AT jonassjoberg optimalconflictresolutionforvehicleswithintersectingandoverlappingpaths |