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Near-Optimal Coordination of Vehicles at an Intersection Plaza Using Bézier Curves

Authors:
Elham Ahmadi
Rodrigo Castelan Carlson
Werner Kraus Junior
Ehsan Taheri

Keywords: intersection Plaza; Bézier curves; optimal control; non-linear programming

Abstract:
We investigate the problem of optimal coordination of Connected Vehicles under Automated Driving (CVAD) at intersections. We aim for more driving flexibility for the CVAD, with the possibility of fully utilizing the intersection space, while strictly avoiding collisions. We propose the Intersection Trajectories Optimal control Problem (ITOP), in which an intersection is a space without movement-related horizontal markings or structural restrictions, except for the intersection boundaries, which we call a plaza. By using the Bézier curves and discretization, we convert the ITOP to a Non-Linear Program (NLP) that generates near-optimal collision-free trajectories. Numerical results demonstrate that the proposed approach generates feasible trajectories and is suitable for the solution of the ITOP.

Pages: 6 to 12

Copyright: Copyright (c) IARIA, 2022

Publication date: May 22, 2022

Published in: conference

ISSN: 2327-2058

ISBN: 978-1-61208-974-4

Location: Venice, Italy

Dates: from May 22, 2022 to May 26, 2022