Automation Of Road Intersections Using Consensus-based Auction Algorithms
For autonomous vehicle coordination at intersections, this work offers a decentralized alternative to centralized control, but results are simulation-only and incremental.
This paper proposes a decentralized consensus-based auction algorithm for automating road intersections, where vehicles negotiate crossing order and use MPC for collision-free trajectory planning. Simulations demonstrate feasibility in time-variant traffic environments.
This paper investigates a consensus-based auction algorithm in the context of decentralized traffic control. In particular, we study the automation of a road intersection, where a set of vehicles is required to cross without collisions. The crossing order will be negotiated in a decentralized fashion. An on-board model predictive controller (MPC) will compute an optimal trajectory which avoids collisions with higher priority vehicles, thus retaining convex safety constraints. Simulations are then performed in a time-variant traffic environment.