Performance Analysis of Model Predictive Intersection Control for Autonomous Vehicles

被引：4

作者：

Mihaly, Andras ^{[1
]}

Farkas, Zsofia ^{[2
]}

Zsuzsanna, Bede ^{[2
]}

Gaspar, Peter ^{[1
]}

机构：

[1] Inst Comp Sci & Control, Syst & Control Lab, Kende U 13-17, H-1111 Budapest, Hungary

[2] Budapest Univ Technol & Econ, Dept Control Transportat & Vehicle Syst, Stoczek U 2, H-1111 Budapest, Hungary

来源：

IFAC PAPERSONLINE | 2021年 / 54卷 / 02期

关键词：

intersection control; optimization; model predictive control; autonomous vehicle control; ROAD FRICTION ESTIMATION;

D O I：

10.1016/j.ifacol.2021.06.029

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The paper focuses on the control challenge of intersections related to the appearance of autonomous vehicles on the roads, which established mixed traffic situations with human-driven vehicles or scenarios with only autonomous vehicles. The goal of the research is to control autonomous vehicles by Model Predictive Control method to guarantee the collision-free passage at the intersection. Generally the outcome of a traffic situation can be varied by human-driven vehicles and fully automated vehicles. Therefore the results of the proposed coordination method used for a given intersection scenario is compared to solution of human-driven vehicles. For the comparison the simulation examples were made in VISSIM and CarSim simulation environments. Copyright (C) 2021 The Authors.

引用

页码：240 / 245

页数：6

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