Intelligent intersection scheduling based on vehicle traffic priority
作者单位：Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management
会议名称：《第40届中国控制会议》
会议日期：2021年
学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 081104[工学-模式识别与智能系统] 08[工学] 0838[工学-公安技术] 0835[工学-软件工程] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）]
关 键 词：Autonomous vehicle Intersection management system Vehicle-to-infrastructure communication Dynamic priority Model predictive control
摘 要：This paper proposes an intelligent intersection management method based on the vehicle dynamic priority. By the information interaction between the autonomous vehicles（AVs） and the infrastructure equipment, the vehicle position and posture information is obtained in real time, and the priority of the vehicles passing through the conflict points in the scene is determined according to the order of the vehicles driving through the crossroads. Subsequently, to track the planned trajectory, we use the model predictive control（MPC） algorithm minimize the intersection delay with collision-free constraints. This guarantees the vehicles to drive through the intersection safely in the scene. Simulation experiments demonstrate the reliability and efficiency of the proposed algorithm.