Distributed Model Predictive Intersection Control of Multiple Vehicles

>> YOUR LINK HERE: ___ http://youtube.com/watch?v=7sq3N8vwusA

This video shows the simulation results of the paper Distributed Model Predictive Intersection Control of Multiple Vehicles , ITSC19 • It shows results of a 5 vehicle scenario with a centralized and a priority-based non-cooperative distributed model predictive control strategy. In the distributed case, the vehicle color defines the phase of the vehicle. After the comparison of the distributed controller to a centralized one, the distribution is shown in a large-scale scenario that can not feasibly computed centralized. • Abstract: • This paper investigates intersection control of multiple vehicles using a Model Predictive Control (MPC) framework. Vehicles follow pre-defined paths across the intersection and adjust their velocities to ensure collision-free passage while maximizing an objective. We choose a non-cooperative Distributed Model Predictive Control (DMPC) approach, where priorities need to be assigned to vehicles. The algorithm we present sets these priorities automatically by evaluating the vehicles’ time to react to stop before entering the intersection. We demonstrate our method in simulations of multiple vehicles and continuous traffic. It produces near-optimal velocity profiles and reduces the computation time in comparison to centralized MPC while avoiding vehicle collisions and deadlocks. • Cyber-Physical Mobility Group: • https://embedded.rwth-aachen.de/doku.... • Chair of Embedded Software (i11): • https://embedded.rwth-aachen.de/ • RWTH Aachen University: • https://www.rwth-aachen.de

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