The topic of this paper is the design of a fully distributed and real-time capable control scheme for the automation of road intersections. State of the art Vehicle-to-Vehicle (V2V) communication technology is adopted. Vehicles distributively negotiate crossing priorities by a Consensus-Based Auction Algorithm (CBAA-M). Then, each agent solves a nonlinear Model Predictive Control (MPC) problem that computes the optimal trajectory avoiding collisions with higher priority vehicles and deciding the crossing order. The scheme is shown to be real-time capable and able to respond to sudden priority changes, e.g. if a vehicle gets an emergency call. Simulations reinforce theoretical results.
@article{arxiv.2101.02925,
title = {Real-Time Distributed Automation Of Road Intersections},
author = {Fabio Molinari and Alexander Katriniok and Joerg Raisch},
journal= {arXiv preprint arXiv:2101.02925},
year = {2021}
}