Model Predictive Control for the Coordination of Autonomous Vehicles at Intersections

作者: András Mihály , Zsófia Farkas , Páter Gáspár , None

DOI: 10.1016/J.IFACOL.2020.12.2289

关键词: Computer scienceControl theoryMinificationModel predictive controlEnergy consumptionControl methodsPosition (vector)Control (management)Intersection (aeronautics)

摘要: Abstract The paper describes a method for defining the crossing order of autonomous vehicles at non-signalized intersection. safe passage through intersection is achieved by centralized Model Predictive Control (MPC) method. minimization traveling time or energy consumption and condition collision-avoidance are incorporated in control design. goal research to guarantee taking uncertainties position measurements into consideration. operation proposed demonstrated simulation examples made high-accuracy environment present its efficiency.

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