| Summary: | The aim of the paper is to describe a multicriteria model predictive control method for<br />autonomous vehicles at non-signalized intersections. The centralized controller aims to describe control<br />action for each autonomous vehicle to guarantee collision free passage. At the same time, performances<br />are defined for the centralized Model Predictive Controller, namely the minimization of traveling time and<br />energy consumption. Since these control goals are often conflicting, a scheduling variable is introduced<br />to create a balance between them. Hence, the centralized controller can be tuned based on the importance<br />of each control goal, which can be useful in urban environment where traffic densities may vary heavily<br />depending on the period of the day. The effectiveness of the proposed centralized multicriteria controller<br />is demonstrated through a complex simulation example in CarSim simulation environment using different<br />tpye of autonomous vehicles.
|
|---|
