This implementation is referenced from the paper
Ismail H. Zohdy, Raj Kishore Kamalanathsharma, Hesham Rakha, Member, IEEE, “Intersection Management for Autonomous Vehicles using iCACC”, 2012 15th International IEEE Conference on Intelligent Transportation Systems
and we have modified the constraints slightly in our implementation, the modification will be shown in document.
The objective of paper is to find an efficient way to control the intersection under the environment with CACC mode. And there are 2 points of requirement should be achieved:
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Given a designated time, the vehicle should arrive at the stop-line in front of intersection. (CACC mode should adjust the speed to reduce fuel consumption)
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Vehicles should keep at a fixed speed in intersection. (35 miles/hr in paper)
However, we found we couldn't designate the arrival time of vehicle at the stop-line. Therefore, to solve this problem and simplify the procedures in controlling, we have the 2 following adjustments:
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Once we obtain the delay time for incoming vehicles in optimization, we transform it into the delaying period of departure.
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Vehicles should keep at a fixed speed all the way in the map of simulation. (15 m/s)
With these 2 adjustments, we could still verify the correctness of constraints. (Simulator would give us warning of potential collisions.)
- Youtube: Simulation of Intersection Management
