Distributed Predictive Control for Roundabout Crossing Modelled by Virtual Platooning

Alessandro Bozzi, Alessandro Bozzi, Simone Graffione, Roberto Sacile, Enrico Zero

2023

Abstract

Roundabouts pose complex challenges for autonomous vehicles. Approaching and crossing them safely requires a significant amount of information, much of which is typically unavailable. With autonomous vehicles becoming increasingly prevalent on the roads, new approaches are necessary to address these upcoming issues. While platoons and distributed control have been extensively studied in the past decade, roundabouts have received less attention. This paper presents a distributed Nonlinear Model Predictive Control (NMPC) approach using the Alternating Direction Method of Multipliers (ADMM) to utilize virtual platooning and enhance the throughput of a roundabout without requiring approaching vehicles to come to a stop. Instead, it manages the velocity of each vehicle while maintaining a safe distance. The proposed approach is validated through two case studies.

Paper Citation

in Harvard Style

Bozzi A., Graffione S., Sacile R. and Zero E. (2023). Distributed Predictive Control for Roundabout Crossing Modelled by Virtual Platooning. In Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-670-5, SciTePress, pages 295-301. DOI: 10.5220/0012232700003543

in Bibtex Style

@conference{icinco23,
author={Alessandro Bozzi and Simone Graffione and Roberto Sacile and Enrico Zero},
title={Distributed Predictive Control for Roundabout Crossing Modelled by Virtual Platooning},
booktitle={Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2023},
pages={295-301},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012232700003543},
isbn={978-989-758-670-5},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Distributed Predictive Control for Roundabout Crossing Modelled by Virtual Platooning
SN - 978-989-758-670-5
AU - Bozzi A.
AU - Graffione S.
AU - Sacile R.
AU - Zero E.
PY - 2023
SP - 295
EP - 301
DO - 10.5220/0012232700003543
PB - SciTePress