文章基本信息

标题：Real-Time Distributed Automation Of Road Intersections
本地全文：下载
作者：Fabio Molinari ; Alexander Katriniok ; Jörg Raisch 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：2606-2613
DOI：10.1016/j.ifacol.2020.12.309
语种：English
出版社：Elsevier
摘要：AbstractThe topic of this paper is the design of a fully distributed and real-time capable control scheme for the automation of road intersections. State of the art Vehicle-to-Vehicle (V2V) communication technology is adopted. Vehicles distributively negotiate crossing priorities by running a Consensus-Based Auction Algorithm (CBAA-M). Then, each agent solves a nonlinear Model Predictive Control (MPC) problem that computes the optimal trajectory avoiding collisions with higher priority vehicles and deciding the crossing order. The scheme is shown to be real-time capable and able to respond to sudden priority changes, e.g. if a vehicle gets an emergency call. Simulations reinforce theoretical results.
关键词：KeywordsAutonomous VehiclesDistributed controlestimationMulti-agent systemsMulti-vehicle systemsCoordination of multiple vehicle systems