Authors: N. Murgovski, G. Rodrigues de Campos, J. Sjöberg

Conference: IEEE Conference on Decision and Control, 2015

Abstract: We stud the problem of optimally controlling autonomous vehicles to safely cross an intersection. The problem is approached by solving an optimal control subproblem for all permutations of crossing sequences. For a chosen crossing sequence, we show that the subproblem of optimal longitudinal vehicle control, subject to collision avoidance constraints, can be formulated as a convex program. The proposed method transforms the problem from the original time domain to a space domain, and introduces a change of optimization variables by replacing vehicles’ speed with its inverse. A case study is provided showing the effectiveness of the proposed method.