TR2022-059

Coordination of Autonomous Vehicles and Dynamic Traffic Rules in Mixed Automated/Manual Traffic


    •  Firoozi, R., Quirynen, R., Di Cairano, S., "Coordination of Autonomous Vehicles and Dynamic Traffic Rules in Mixed Automated/Manual Traffic", American Control Conference (ACC), June 2022.
      BibTeX TR2022-059 PDF
      • @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,
      • url = {https://www.merl.com/publications/TR2022-059}
      • }
  • MERL Contacts:
  • Research Areas:

    Control, Dynamical Systems, Optimization

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

 

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