Model predictive control of connected vehicles under automated driving at path-free signal-free intersections
Elham Ahmadi,
Rodrigo Castelan Carlson
Abstract:In this paper, we tackle the problem of real-time multi-vehicle interactions at signalfree and path-free intersections, which we call plazas, aiming for an efficient use of the intersection space. We propose a method that combines the path planning and path following tasks of connected vehicles under automated driving in one formulation. The method extends the standard nonlinear model predictive contouring control for application at intersections via the generation of multiple timeindependent reference paths. … Show more
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