Collision free autonomous ground traffic: A model predictive control approach

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

23 Scopus citations

Abstract

Even with recent advances in electronics, sensors, and communication technologies, it is still a grand challenge to develop an autonomous transportation system in which each vehicle can autonomously coordinate with other vehicles and drive itself on a road with a safety guarantee. We propose an approach to address this challenge. We formulate a Model Predictive Control (MPC) problem to generate a feasible trajectory for a vehicle. Constraints are particularly designed to ensure inter-vehicle safety. To further achieve system-wide safety and liveness, we additionally propose several simple yet effective rules for vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) coordination. We establish system-wide safety and also liveness of the resulting autonomous traffic in various traffic situations such as single lane traffic, multi-lane traffic, and intersection crossing traffic.

Original languageEnglish
Title of host publication2013 ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2013
Pages51-60
Number of pages10
DOIs
StatePublished - 2013
Event2013 ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2013 - Philadelphia, PA, United States
Duration: 8 Apr 201311 Apr 2013

Publication series

Name2013 ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2013

Conference

Conference2013 ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2013
Country/TerritoryUnited States
CityPhiladelphia, PA
Period8/04/1311/04/13

Keywords

  • Autonomous Vehicles
  • Intelligent Intersections
  • Liveness
  • Model Predictive Control
  • Motion Planning
  • Safety

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