ABSTRACT In this paper, we analyse the performance of a model predictive controller for coordination of connected, automated vehicles at intersections. The problem has combinatorial complexity, and we propose to solve it approximately by using a two stage procedure where (1) the vehicle crossing order in which the vehicles cross the intersection is found by solving a mixed integer quadratic program and (2) the control commands are subsequently found by solving a nonlinear program. We show that the controller is persistently safe and compare its performance against traffic lights and two simpler optimisation-based coordination schemes. The results show that our approach outperforms the considered alternatives in terms of both energy consumption and travel-time delay, especially for medium to high traffic loads.

中文翻译：

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基于优化的交叉路口互联自动车辆协调

摘要在本文中，我们分析了模型预测控制器的性能，用于在交叉路口协调连接的自动车辆。该问题具有组合复杂性，我们建议通过使用两阶段程序来近似解决该问题，其中（1）通过求解混合整数二次程序找到车辆穿越交叉路口的车辆穿越顺序和（2）控制命令随后通过求解非线性程序找到。我们证明控制器是持久安全的，并将其性能与交通灯和两个更简单的基于优化的协调方案进行比较。结果表明，我们的方法在能耗和旅行时间延迟方面都优于所考虑的替代方案，尤其是对于中高交通负载。