Cooperative trajectory optimization for multiple connected vehicles at an unsignalized intersection

Abstract

Due to the advancement of driverless technology, multi-vehicle cooperation and intelligent travel will become the key direction of intelligent transportation system technology. In high-level autonomous driving, the elimination of intersection signals can effectively improve the efficiency of road traffic. For unsignalized intersection scenarios, considering whether vehicles arrive simultaneously, we propose single-phase and multi-phase trajectory planning methods for multi-vehicle cooperative motion based on numerical optimization techniques. This method includes establishing a vehicle kinematic model, considering the constraints of the vehicle’s physical system and boundary conditions, and developing effective multi-vehicles collaborative motion obstacle avoidance strategies. The trajectory planning task is described in the form of an optimal control problem, and the optimal trajectory is obtained by numerical optimization with the shortest passing time to complete the intersection as the optimization objective. Through numerical simulation analysis of intersection scenarios including crossroad and roundabout, the results demonstrate that the proposed algorithm can achieve optimal trajectories for multi-vehicle cooperative motion while ensuring safe vehicle operation, which improves the efficiency of future intelligent traffic networks.