A One-Step Feasible Negotiation Algorithm for Distributed Trajectory Generation of Autonomous Vehicles

We propose a distributed trajectory generation method for connected autonomous vehicles. It is integrated in an intersection crossing scenario where we assume a given vehicle order provided by a high-level scheduling unit. The multi-vehicle framework is modeled by local independent vehicle dynamics with coupling constraints between neighboring vehicles. Each vehicle in the framework computes in parallel a local model predictive control (MPC) decision, which is shared with its neighbors after conducting a convex Jacobi update step. The procedure can be iteratively repeated within a sampling time-step to improve the overall coordination decisions of the multi-vehicle setup. However, iterations can be stopped after each inter-sampling step with a guaranteed feasible solution which satisfies local and coupling constraints. We construct feasible initial trajectory candidates and propose a method to emulate the centralized solution. This makes the Jacobi algorithm suitable for distributed trajectory generation of autonomous vehicles in low and medium speed driving. %Furthermore, we require that vehicles enter a safe crossing zone satisfying a safety distance constraint. Simulation results compare the performance of the distributed Jacobi MPC scheme with the centralized solution and illustrate the feasibility guarantee in an intersection scenario with unforeseen events.     «

We propose a distributed trajectory generation method for connected autonomous vehicles. It is integrated in an intersection crossing scenario where we assume a given vehicle order provided by a high-level scheduling unit. The multi-vehicle framework is modeled by local independent vehicle dynamics with coupling constraints between neighboring vehicles. Each vehicle in the framework computes in parallel a local model predictive control (MPC) decision, which is shared with its neighbors after...     »