eprintid: 4005
rev_number: 12
eprint_status: archive
userid: 87
dir: disk0/00/00/40/05
datestamp: 2018-03-09 14:11:50
lastmod: 2018-03-09 14:11:50
status_changed: 2018-03-09 14:11:50
type: article
metadata_visibility: show
creators_name: Jiang, Yuning
creators_name: Zanon, Mario
creators_name: Hult, Robert
creators_name: Houska, Boris
creators_id: 
creators_id: mario.zanon@imtlucca.it
creators_id: 
creators_id: 
title: Distributed Algorithm for Optimal Vehicle Coordination at Traffic Intersections
ispublished: pub
subjects: T1
divisions: CSA
full_text_status: restricted
pres_type: paper
keywords: Autonomous Vehicles; Traffic Control; Optimal Control; Distributed Optimization
abstract: Automated vehicle coordination can be used to control vehicles across traffic intersections safely and efficiently. This paper proposes a novel parallelizable algorithm, which solves the coordination problem at traffic intersections under a given precedence order by using a tailored variant of the augmented Lagrangian based alternating direction inexact Newton method (ALADIN). Here, each vehicle solves its own optimal control problem and exchanges information about arrivial and departure times at the intersection with its neighbors such that collisions are avoided. We illustrate the performance of ALADIN by analyzing two scenarios, one during rush hour and one at low-traffic conditions.
date: 2017
publication: IFAC-PapersOnLine
volume: 50
number: 1
publisher: Elsevier
pagerange: 11577-11582
event_title: IFAC World Congress
event_type: conference
id_number: doi:10.1016/j.ifacol.2017.08.1511
refereed: TRUE
issn: 2405-8963
official_url: http://doi.org/10.1016/j.ifacol.2017.08.1511
citation:   Jiang, Yuning and Zanon, Mario and Hult, Robert and Houska, Boris  Distributed Algorithm for Optimal Vehicle Coordination at Traffic Intersections.  IFAC-PapersOnLine, 50 (1).  pp. 11577-11582.  ISSN 2405-8963      (2017)  
document_url: http://eprints.imtlucca.it/4005/1/1-s2.0-S2405896317320931-main.pdf