Model Predictive Control for the Coordination of Autonomous Vehicles at Intersections

Abstract The paper describes a method for defining the crossing order of autonomous vehicles at a non-signalized intersection. The safe passage of vehicles through the intersection is achieved by a centralized Model Predictive Control (MPC) method. The minimization of traveling time or energy consumption and the condition of collision-avoidance are incorporated in the control design. The goal of the research is to guarantee safe passage of the autonomous vehicles by taking uncertainties of position measurements into consideration. The operation of the proposed control method is demonstrated by simulation examples made in a high-accuracy simulation environment to present its efficiency.