An approximate solution to the optimal coordination problem for autonomous vehicles at intersections

Hult, Robert; Campos, Gabriel Rodrigues de; Falcone, Paolo; Wymeersch, Henk

doi:10.1109/acc.2015.7170826

Cited by 64 publications

(46 citation statements)

References 10 publications

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“…In [8] it was shown that the function Φ i (t) has a single unique minimum, but that it is not convex in general. We show here that Φ i (t i ) is C 0 , and piece-wise…”

Section: Properties Of Problem (12)mentioning

confidence: 99%

“…To reduce the computational requirements of solving the coordination problem (11) with long horizons and large state spaces, a two-level decomposition of Problem (12) was presented in [8]. In this decomposition, the top level consists of a time-slot allocation problem and the low level consists of one optimal control problem for each of the M vehicles.…”

Section: Decompositionmentioning

confidence: 99%

“…Coordination of communicating automated vehicles at intersections, on-ramps, and in other traffic scenarios where roads merge or cross is a topic that has attracted a lot of attention in recent years, see, e.g., [3], [4], [8] or [12]. It is commonly claimed that, using vehicle automation and communication, the number of accidents in such scenarios can be reduced and both energy efficiency and infrastructure utilization can be improved.…”

Section: Introductionmentioning

confidence: 99%

“…As opposed to [8], this paper provides a study of the decomposed problem and details how the sensitivity information needed to solve it using a second order method can be computed in a distributed fashion.…”

Section: Introductionmentioning

confidence: 99%

“…The approach taken in this paper builds partly on [8], where the coordination problem for intersections was formulated in an optimal control context, and a method for the approximate solution to both the precedence and control sub-problems were presented. As opposed to [8], this paper provides a study of the decomposed problem and details how the sensitivity information needed to solve it using a second order method can be computed in a distributed fashion.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Primal decomposition of the optimal coordination of vehicles at traffic intersections

Hult

Zanon

Gros

et al. 2016

2016 IEEE 55th Conference on Decision and Control (CDC)

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Abstract-In this paper we address the problem of coordinating automated vehicles at intersections, which we state as a constrained finite horizon optimal control problem. We present and study the properties of a primal decomposition of the optimal control problem. More specifically, the decomposition consists of an upper problem that allocates occupancy timeslots in the intersection, and lower-level problems delivering control policies for each vehicle. We investigate the continuity class of the upper problem, and show that it can be efficiently tackled using a standard sequential quadratic programming and that most computations can be distributed and performed by the participating vehicles. The paper is concluded with an illustrative numerical example.

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“…In [8] it was shown that the function Φ i (t) has a single unique minimum, but that it is not convex in general. We show here that Φ i (t i ) is C 0 , and piece-wise…”

Section: Properties Of Problem (12)mentioning

confidence: 99%

Section: Decompositionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Primal decomposition of the optimal coordination of vehicles at traffic intersections

Hult

Zanon

Gros

et al. 2016

2016 IEEE 55th Conference on Decision and Control (CDC)

Self Cite

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Autonomous traffic at intersections: An optimization‐based analysis of possible time, energy, and CO savings

Merkert

Sorgatz

et al. 2021

Networks

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In the field of autonomous driving, traffic‐light‐controlled intersections are of special interest. We analyze how much an optimized coordination of vehicles and infrastructure can contribute to efficient transit through these bottlenecks, depending on traffic density and certain regulations of traffic lights. To this end, we develop a mixed‐integer linear programming model to describe the interaction between traffic lights and discretized traffic flow. It is based on a microscopic traffic model with centrally controlled autonomous vehicles. We aim to determine a globally optimal traffic flow for given scenarios on a simple, but extensible, urban road network. The resulting models are very challenging to solve, in particular when involving additional realistic traffic‐light regulations such as minimum red and green times. While solving times exceed real‐time requirements, our model allows an estimation of the maximum performance gains due to improved communication and serves as a benchmark for heuristic and decentralized approaches.

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Experimental validation of a semi‐distributed sequential quadratic programming method for optimal coordination of automated vehicles at intersections

Hult

Zanon

Frison

et al. 2020

Optim Control Appl Methods

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SummaryIn this article, we study the optimal coordination of automated vehicles at intersections. The problem can be stated as an optimal control problem (OCP), which can be decomposed as a bi‐level scheme composed by one nonlinear program (NLP) which schedules the access to the intersection and one OCP per vehicle which computes the appropriate vehicle commands. We discuss a practical implementation of the bi‐level controller where the NLP is solved with a tailored semi‐distributed sequential quadratic programming (SQP) algorithm that enables distribution of most computation to the vehicles. Results from an extensive experimental campaign are presented, where the bi‐level controller and the semi‐distributed SQP are implemented on a test setup consisting of three automated vehicles. In particular, we show that the vehicle‐level controller can enforce the scheduled intersection access beyond the accuracy admitted by the sensor system, and that the bi‐level controller can handle large perturbations and large communication delays, which makes the scheme applicable in practical scenarios. Finally, the use of wireless communication introduces delays in the outer control loop. To allow faster feedback, we introduce a real‐time iteration (RTI) like variation of the bi‐level controller. Experimental and simulated results indicate that the RTI‐like variation offers comparable performance using less computation and communication.

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An approximate solution to the optimal coordination problem for autonomous vehicles at intersections

Cited by 64 publications

References 10 publications

Primal decomposition of the optimal coordination of vehicles at traffic intersections

Primal decomposition of the optimal coordination of vehicles at traffic intersections

Autonomous traffic at intersections: An optimization‐based analysis of possible time, energy, and CO savings

Experimental validation of a semi‐distributed sequential quadratic programming method for optimal coordination of automated vehicles at intersections

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