We propose a fully distributed control system architecture, amenable to in-vehicle implementation, that aims to safely coordinate connected and automated vehicles (CAVs) at road intersections. For control purposes, we build upon a fully distributed model predictive control approach, in which the agents solve a nonconvex optimal control problem (OCP) locally and synchronously, and exchange their optimized trajectories via vehicle-to-vehicle (V2V) communication. To accommodate a fast solution of the nonconvex OCPs, we apply the penalty convex-concave procedure which solves a convexified version of the original OCP. For experimental evaluation, we complement the predictive controller with a localization layer, being in charge of self-localization, and an estimator, which determines joint collision points with other agents. Experimental tests reveal the efficacy of the proposed control system architecture.


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    Title :

    Fully Distributed Model Predictive Control of Connected Automated Vehicles in Intersections: Theory and Vehicle Experiments


    Contributors:

    Published in:

    Publication date :

    2022-10-01


    Size :

    2220597 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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