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 optimisation-based 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.
Optimisation-based coordination of connected, automated vehicles at intersections
Vehicle System Dynamics ; 58 , 5 ; 726-747
2020-05-03
22 pages
Article (Journal)
Electronic Resource
English
BASE | 2016
|Taylor & Francis Verlag | 2018
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