We address the problem of optimally scheduling automated vehicles crossing an intelligent intersection by assigning vehicles with priorities and desired speed. An idealized intersection traffic model is established for the development and verification of the required algorithms. We formulate the intersection scheduling problem as a mixed integer programming (or MIP) problem which co-designs the priority and traveling speed for each vehicle. The co-design aims to minimize the vehicle waiting time at the intersection area, under a set of safety constraints. We derived a contention-resolving model predictive control (or MPC) algorithm to dynamically assign priorities and compute the vehicles’ traveling speeds. A branch cost formulation is proposed for the decision tree constructed by contention-resolving MPC based on time instants when collisions might occur among vehicles. Based on the priority assignments, a decentralized control law is designed to control each vehicle to travel with an optimal speed given a specific priority assignment. The optimal priority assignment can be determined by searching the lowest cost path in the decision tree. The solution computed by contention-resolving MPC is proved to be optimal given the condition of immediate access (or CIA) required in real-time scheduling. The effectiveness of the proposed method is verified through simulation and compared with the first-come-first-serve (or FCFS) and highest-speed-first (or HSF) scheduling strategies.

我们通过为车辆分配优先级和所需速度来解决跨智能路口的自动调度车辆的最佳调度问题。建立理想的十字路口交通模型，以开发和验证所需的算法。我们将交叉口调度问题表述为混合整数规划（MIP）问题，该问题可以共同设计每辆车的优先级和行驶速度。共同设计的目的是在一组安全约束下，最大程度地减少交叉路口的车辆等待时间。我们推导了竞争解决模型预测控制（MPC）算法，以动态分配优先级并计算车辆的行驶速度。针对基于车辆之间可能发生碰撞的时间点的竞争解决MPC构造的决策树，提出了一种分支成本公式。基于优先级分配，设计了分散控制律，以在给定特定优先级分配的情况下控制每辆车以最佳速度行驶。可以通过在决策树中搜索最低成本路径来确定最佳优先级分配。考虑到实时调度中要求的立即访问（或CIA）条件，由竞争解决MPC计算的解决方案被证明是最优的。通过仿真验证了所提方法的有效性，并与先到先得（FCFS）和最高速度优先（或HSF）调度策略进行了比较。设计了分散控制律，以在给定特定优先级分配的情况下控制每辆车以最佳速度行驶。可以通过在决策树中搜索最低成本路径来确定最佳优先级分配。考虑到实时调度中要求的立即访问（或CIA）条件，由竞争解决MPC计算的解决方案被证明是最优的。通过仿真验证了所提方法的有效性，并与先到先得（FCFS）和最高速度优先（或HSF）调度策略进行了比较。设计了分散控制法则，以在给定特定优先级分配的情况下控制每辆车以最佳速度行驶。可以通过在决策树中搜索最低成本路径来确定最佳优先级分配。考虑到实时调度中要求的立即访问（或CIA）条件，由竞争解决MPC计算的解决方案被证明是最优的。通过仿真验证了所提方法的有效性，并与先到先得（FCFS）和最高速度优先（或HSF）调度策略进行了比较。考虑到实时调度中要求的立即访问（或CIA）条件，由竞争解决MPC计算的解决方案被证明是最优的。通过仿真验证了所提方法的有效性，并与先到先得（FCFS）和最高速度优先（或HSF）调度策略进行了比较。考虑到实时调度中要求的立即访问（或CIA）条件，由竞争解决MPC计算的解决方案被证明是最优的。通过仿真验证了所提方法的有效性，并与先到先得（FCFS）和最高速度优先（或HSF）调度策略进行了比较。