Optimization based coordination of autonomous vehicles in confined areas

TL;DR

This paper introduces an optimization-based method for coordinating multiple autonomous vehicles in confined areas, ensuring collision avoidance through joint speed-profile optimization and intersection crossing order determination.

Contribution

The paper presents a novel integrated approach combining optimal control and MIQP to coordinate AVs in confined spaces, enhancing safety and efficiency.

Findings

Effective collision avoidance demonstrated in simulations

Optimized vehicle speed profiles improve traffic flow

Algorithm handles multiple vehicles and intersection scenarios

Abstract

Confined areas present an opportunity for early deployment of autonomous vehicles (AV) due to the absence of non-controlled traffic participants. In this paper, we present an approach for coordination of multiple AVs in confined sites. The method computes speed-profiles for the AVs such that collisions are avoided in cross-intersection and merge crossings. Specifically, this is done through the solution of an optimal control problem where the motion of all vehicles is optimized jointly. The order in which the vehicles pass the crossings is determined through the solution of a Mixed Integer Quadratic Program (MIQP). Through simulation results, we demonstrate the capability of the algorithm in terms of performance and satisfaction of collision avoidance constraints.