Fully Distributed Model Predictive Control of Connected Automated Vehicles in Intersections: Theory and Vehicle Experiments
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 age...
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| Veröffentlicht in: | IEEE transactions on intelligent transportation systems 2022-10, Vol.23 (10), p.18288-18300 |
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| container_title | IEEE transactions on intelligent transportation systems |
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| creator | Katriniok, Alexander Rosarius, Benedikt Mahonen, Petri |
| description | 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. |
| doi_str_mv | 10.1109/TITS.2022.3162038 |
| format | Article |
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| ispartof | IEEE transactions on intelligent transportation systems, 2022-10, Vol.23 (10), p.18288-18300 |
| issn | 1524-9050 1558-0016 |
| language | eng |
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| source | IEEE Electronic Library (IEL) |
| subjects | Automation automotive control autonomous vehicles Computer architecture Control systems Decentralized control Distributed control distributed optimization Location awareness Optimal control Predictive control Roads Traffic intersections Trajectory Trajectory optimization |
| title | Fully Distributed Model Predictive Control of Connected Automated Vehicles in Intersections: Theory and Vehicle Experiments |
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