Multiple vehicles control at an intersection is one of the most challenging scenarios in the vehicle control field due to the high number of constraints. However, regarding the control strategies of an isolated intersection, few studies have considered the longitudinal-lateral dynamics comprehensively. In the approaches that treat the turning curve as a straight line, a longitudinal dynamic model is adopted, while the lateral execution ability is ignored. The ideal decisions that ignore vehicle dynamics are not accurately executed by actual vehicles, as doing so would be futile. In addition, due to the strong coupling and nonlinearity of the longitudinal-lateral dynamics model, the optimization problem is difficult to solve. Therefore, in this paper, a reasonable model, the simplified vehicle dynamics model coupled with longitudinal-lateral dynamics is used to describe longitudinal, lateral, and yaw motions comprehensively. Optimization of the longitudinal and lateral control of each vehicle is realized simultaneously. The multi-objective optimization problem is decomposed and solved by each vehicle utilizing model predictive control (MPC) in a distributed manner. A novel safety constraint interpretive method (SCIM) is proposed to reduce the number of constraints and facilitate the solution by converting the safety constraint. The asymptotic stability of a local closed-loop system is guaranteed by a terminal constraint, and the global feasibility is proven. Finally, a demanding intersection scenario, with comparison between the Proportional-Integral-Derivative (PID) method and Adaptive Cruise Control (ACC) method, is carried out in a Processor-in-the-Loop (PiL) test. The results demonstrate that intersection safety is guaranteed with smoother control inputs obtained by the designed distributed method. The control inputs are more suitable for vehicle execution, especially in turning maneuvers.

中文翻译：

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考虑纵向横向动力学的多车辆分布式交叉路口冲突解决


由于约束条件较多，交叉路口的多车控制是车辆控制领域最具挑战性的场景之一。然而，对于孤立交叉口的控制策略，很少有研究全面考虑纵横向动力学。在将转弯曲线视为直线的方法中，采用纵向动力学模型，而忽略横向执行能力。实际车辆无法准确执行忽略车辆动力学的理想决策，因为这样做是徒劳的。此外，由于纵横向动力学模型的强耦合性和非线性，导致优化问题难以求解。因此，本文采用合理的模型，即与纵横向动力学耦合的简化车辆动力学模型来综合描述纵向、横向和偏航运动。同时实现每辆车纵向和横向控制的优化。多目标优化问题由每辆车利用模​​型预测控制（MPC）以分布式方式分解和求解。提出了一种新颖的安全约束解释方法（SCIM），通过转换安全约束来减少约束数量并促进求解。终端约束保证了局部闭环系统的渐近稳定性，并证明了全局可行性。最后，在环路处理器（PiL）测试中进行了要求较高的交叉路口场景，并对比例积分微分（PID）方法和自适应巡航控制（ACC）方法进行了比较。 结果表明，通过设计的分布式方法获得更平滑的控制输入，保证了交叉口安全。控制输入​​更适合车辆执行，尤其是转弯操作。