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Experimental validation of a semi-distributed sequential quadratic programming method for optimal coordination of automated vehicles at intersections

机译：半分布式顺序二次编程方法的实验验证，以实现交叉口自动化车辆的最佳协调

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摘要

In this article, we study the optimal coordination of automated vehicles at intersections. The problem can be stated as an optimal control problem (OCP), which can be decomposed as a bi-level scheme composed by one nonlinear program (NLP) which schedules the access to the intersection and one OCP per vehicle which computes the appropriate vehicle commands. We discuss a practical implementation of the bi-level controller where the NLP is solved with a tailored semi-distributed sequential quadratic programming (SQP) algorithm that enables distribution of most computation to the vehicles. Results from an extensive experimental campaign are presented, where the bi-level controller and the semi-distributed SQP are implemented on a test setup consisting of three automated vehicles. In particular, we show that the vehicle-level controller can enforce the scheduled intersection access beyond the accuracy admitted by the sensor system, and that the bi-level controller can handle large perturbations and large communication delays, which makes the scheme applicable in practical scenarios. Finally, the use of wireless communication introduces delays in the outer control loop. To allow faster feedback, we introduce a real-time iteration (RTI) like variation of the bi-level controller. Experimental and simulated results indicate that the RTI-like variation offers comparable performance using less computation and communication.
机译：在本文中，我们研究了交叉路口的自动车辆的最佳协调。该问题可以表示为最佳控制问题（OCP），其可以被分解为由一个非线性程序（NLP）组成的双级方案，该方案调度对计算适当的车辆命令的每个车辆的访问和一个OCP的访问的双级方案。我们讨论了双层控制器的实际实现，其中NLP以定制的半分布式顺序二次编程（SQP）算法解决，使得能够分布大多数计算到车辆。提出了广泛的实验活动的结果，其中双级控制器和半分布式SQP在由三辆自动车辆组成的测试设置上实现。特别地，我们表明车辆级控制器可以强制超出传感器系统承认的精度的预定的交叉路口访问，并且双级控制器可以处理大的扰动和大的通信延迟，这使得该方案适用于实际情况。最后，使用无线通信引入了外控制回路的延迟。为了允许更快的反馈，我们介绍了像双级控制器的实时迭代（RTI）。实验和模拟结果表明RTI样变量使用较少的计算和通信提供了可比性的性能。

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