Chapter
Aug 12, 2020
Trajectory Planning for Autonomous Vehicles at Autonomous Intersection
Authors: Jing Chen [email protected], Chen Mu [email protected], and Lu Zhao [email protected]Author Affiliations
Publication: CICTP 2020
ABSTRACT
Close interaction between vehicles is prone to traffic conflicts and fluctuations at intersections. We propose an autonomous intersection traffic management scheme based on segmented dynamic programming. The main purpose of the study was to make sure that autonomous vehicles can pass through intersections without traffic lights safely and smoothly. A mixed-integer nonlinear programming is formulated to model the microscopic behavior of autonomous vehicles and ensure the collision-free among them. In a given period of time, the maximum average speed of vehicles passing through the intersection is the optimization objective of the model. Our experimental results confirm that the proposed model can effectively maximize the average vehicle speed and completely avoid accidents at intersections.
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Published In
CICTP 2020
Pages: 332 - 342
Copyright
© 2020 American Society of Civil Engineers.
History
Published online: Aug 12, 2020
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Authors
Affiliations
1School of Information Engineering, Chang’an Univ., P.O. Box 710064, Xi’an, China. Email: [email protected]
2School of Information Engineering, Chang’an Univ., P.O. Box 710064, Xi’an, China. Email: [email protected]
3School of Information Engineering, Chang’an Univ., P.O. Box 710064, Xi’an, China. Email: [email protected]
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