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arXiv · 1804.10411

Automation Of Road Intersections Using Consensus-based Auction Algorithms

Fabio Molinari·Jörg Raisch
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Abstract

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.

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Fabio Molinari, Jörg Raisch. 2018-04-27. Automation Of Road Intersections Using Consensus-based Auction Algorithms. https://arxiv.org/abs/1804.10411

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