TR2022-059
Coordination of Autonomous Vehicles and Dynamic Traffic Rules in Mixed Automated/Manual Traffic
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- , "Coordination of Autonomous Vehicles and Dynamic Traffic Rules in Mixed Automated/Manual Traffic", American Control Conference (ACC), DOI: 10.23919/ACC53348.2022.9867802, June 2022.BibTeX TR2022-059 PDF Video
- @inproceedings{Firoozi2022jun,
- author = {Firoozi, Roya and Quirynen, Rien and Di Cairano, Stefano},
- title = {Coordination of Autonomous Vehicles and Dynamic Traffic Rules in Mixed Automated/Manual Traffic},
- booktitle = {American Control Conference (ACC)},
- year = 2022,
- month = jun,
- doi = {10.23919/ACC53348.2022.9867802},
- url = {https://www.merl.com/publications/TR2022-059}
- }
- , "Coordination of Autonomous Vehicles and Dynamic Traffic Rules in Mixed Automated/Manual Traffic", American Control Conference (ACC), DOI: 10.23919/ACC53348.2022.9867802, June 2022.
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MERL Contacts:
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Research Areas:
Abstract:
We consider the coordination of multiple con- nected automated vehicles (CAVs) by a central coordinator (CC) in mixed traffic where also non-controlled vehicles (NCVs) are present. The CC directly provides motion target commands to the CAVs and affects the behavior of NCVs by controlling dynamic traffic rules, such as changing traffic lights. We model the traffic rules for these scenarios by mixed-logical constraints, and the response of the NCVs to the changing traffic rules by a switched system with switches triggered by logic conditions. The proposed approach is implemented as a mixed-integer programming (MIP) problem to be solved in the central coordinator, which also handles timing constraint
Related News & Events
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NEWS Rien Quirynen to give an invited talk at the University of California Santa Cruz Date: November 14, 2022
Where: Zoom
MERL Contact: Rien Quirynen
Research Areas: Control, Dynamical Systems, Optimization, RoboticsBrief- Rien Quirynen will give an invited talk at the Electrical and Computer Engineering Department, University of California Santa Cruz on "Real-time Motion Planning and Predictive Control by Mixed-integer Programming for Autonomous Vehicles". The talk will present recent work on a tailored branch-and-bound method for real-time motion planning and decision making on embedded processing units, and recent results for two applications related to automated driving and traffic control.
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NEWS MERL researchers presented 9 papers at the American Control Conference (ACC) Date: June 8, 2022 - June 10, 2022
Where: Atlanta, GA
MERL Contacts: Karl Berntorp; Scott A. Bortoff; Ankush Chakrabarty; Stefano Di Cairano; Christopher R. Laughman; Marcel Menner; Rien Quirynen; Abraham P. Vinod; Avishai Weiss
Research Areas: Control, Machine Learning, OptimizationBrief- At the American Control Conference in Atlanta, GA, MERL presented 9 papers on subjects including autonomous-vehicle decision making and motion planning, realtime Bayesian inference and learning, reference governors for hybrid systems, Bayesian optimization, and nonlinear control.