论文标题
基于优化的自动驾驶汽车在受限区域
Optimization based coordination of autonomous vehicles in confined areas
论文作者
论文摘要
由于缺乏非控制的交通参与者，狭窄的地区为早期部署自动驾驶汽车（AV）提供了机会。在本文中，我们提出了一种在受限站点中多个AV协调的方法。该方法计算AVS的速度原理，以便在交叉交流和合并交叉处避免碰撞。具体而言，这是通过解决所有车辆运动共同优化最佳控制问题的解决方案来完成的。车辆通过的顺序是通过混合整数二次程序（MIQP）的解决方案确定的。通过仿真结果，我们证明了算法在性能和对碰撞避免限制的满意度方面的能力。
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.
