MPC Control Strategy for Autonomous Vehicles Driving in Roundabouts

被引：2
作者：
Farkas, Zsofia [1 ,2 ]
Mihaly, Andras [1 ]
Gaspar, Peter [1 ]
机构：
[1] Inst Comp Sci & Control SZTAKI, Eotvos Lorand Res Network ELKH, Syst & Control Lab, Kende U 13-17, H-1111 Budapest, Hungary
[2] Budapest Univ Technol & Econ, Dept Control Transportat & Vehicle Syst, Muegyet Rkp 3, H-1111 Budapest, Hungary
来源：
2022 30TH MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED) | 2022年
关键词：
ROAD FRICTION ESTIMATION; AUTOMATED VEHICLES;
D O I：
10.1109/MED54222.2022.9837120
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The appearance of autonomous vehicles (AVs) in transportation has increased the attention of the scientific community to develop modern solutions for the control design of AVs in different traffic scenarios. In this paper a control method is proposed for the coordination of autonomous vehicles in roundabout scenarios. For collision avoidance and minimization of traveling time, a Model Predictive Control (MPC) with a centralized controller is introduced to calculate the traveling times of the vehicles. A presented algorithm determines velocity profiles for safety reasons and for the reduction of possible congestion. The operation of the proposed MPC method is tested and demonstrated in CarSim simulation environment.
引用
收藏
页码：939 / 944
页数：6
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