Contention-resolving model predictive control for an intelligent intersection traffic model
Contention-resolving model predictive control for an intelligent intersection traffic model
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DOI：
10.1007/s10626-020-00336-8
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发表时间：
2021-03
期刊：
影响因子：
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通讯作者：
Ningshi Yao;Fumin Zhang
中科院分区：
文献类型：
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作者：
Ningshi Yao;Fumin Zhang
我们解决的问题，通过分配车辆的优先级和所需的速度，最佳调度自动驾驶车辆穿越智能交叉口。建立了一个理想化的交叉口交通模型，用于开发和验证所需的算法。我们制定交叉口调度问题作为一个混合整数规划（或MIP）的问题，协同设计的优先级和行驶速度为每辆车。协同设计的目标是在一组安全约束条件下，最大限度地减少车辆在交叉口区域的等待时间。我们推导出一个竞争解决模型预测控制（或MPC）算法来动态分配优先级和计算车辆的行驶速度。提出了一种分支成本公式的竞争解决MPC构建的决策树的基础上的时刻，车辆之间可能发生碰撞。基于优先级分配，分散控制律的设计，以控制每个车辆行驶的最佳速度给定一个特定的优先级分配。最优优先级分配可以通过在决策树中搜索最低成本路径来确定。竞争解决MPC计算的解决方案被证明是最优的即时访问（或CIA）的实时调度所需的条件。通过仿真验证了该方法的有效性，并与先来先服务（FCFS）和最高速度优先（HSF）调度策略进行了比较。
We address the problem of optimally scheduling automated vehicles crossing an intelligent intersection by assigning vehicles with priorities and desired speed. An idealized intersection traffic model is established for the development and verification of the required algorithms. We formulate the intersection scheduling problem as a mixed integer programming (or MIP) problem which co-designs the priority and traveling speed for each vehicle. The co-design aims to minimize the vehicle waiting time at the intersection area, under a set of safety constraints. We derived a contention-resolving model predictive control (or MPC) algorithm to dynamically assign priorities and compute the vehicles’ traveling speeds. A branch cost formulation is proposed for the decision tree constructed by contention-resolving MPC based on time instants when collisions might occur among vehicles. Based on the priority assignments, a decentralized control law is designed to control each vehicle to travel with an optimal speed given a specific priority assignment. The optimal priority assignment can be determined by searching the lowest cost path in the decision tree. The solution computed by contention-resolving MPC is proved to be optimal given the condition of immediate access (or CIA) required in real-time scheduling. The effectiveness of the proposed method is verified through simulation and compared with the first-come-first-serve (or FCFS) and highest-speed-first (or HSF) scheduling strategies.