Traffic safety at intersections : a priority based approach for cooperative collision avoidance Campos, Gabriel R ; Falcone, Paolo ; Sjöberg, Jonas
Publication details: Göteborg Chalmers University of Technology. SAFER Vehicle and Traffic Safety Centre, 2015Description: s. 9-15Subject(s): Online resources: In: FAST-zero'15: 3rd International symposium on future active safety technology toward zero traffic accidents: September 9-11, 2015 Gothenburg, Sweden: proceedingsNotes: Konferens: FAST-zero'15: 3rd International symposium on future active safety technology toward zero traffic accidents, 2015, Gothenburg Abstract: In this paper, we consider the coordination problem of multiple autonomous vehicles at traffic intersections. In particular, we exploit a cooperative, sequential conflict resolution approach based on a pre-defined decision order. Using an optimal control formulation, we show how coordination can be ensured by solving two local problems where collision avoidance is enforced as time-dependent state constraints. We will analyse the feasibility of a given sequence with respect to different decision criteria and present simulation results supporting our results.Konferens: FAST-zero'15: 3rd International symposium on future active safety technology toward zero traffic accidents, 2015, Gothenburg
In this paper, we consider the coordination problem of multiple autonomous vehicles at traffic intersections. In particular, we exploit a cooperative, sequential conflict resolution approach based on a pre-defined decision order. Using an optimal control formulation, we show how coordination can be ensured by solving two local problems where collision avoidance is enforced as time-dependent state constraints. We will analyse the feasibility of a given sequence with respect to different decision criteria and present simulation results supporting our results.