Control of autonomous vehicles at an unsignalized intersection

Research output: Chapter in Book/Report/Conference proceedingConference contribution

14 Scopus citations


Safety and optimal traffic flow are important priorities in intelligent transportation systems. This paper presents a collaborative method for collision avoidance between autonomous vehicles at an unsignalized intersection. The collision conditions are expressed in terms of the vehicles' speed ratios. The problem is then formulated and solved as an optimization problem with the safety constraints represented by the speed ratios. The cost function is defined in terms of the deviation from the current speeds. Both pairwise and three vehicle formulations are discussed. The proposed formulation allows to easily scale the solution to higher number of vehicles. The method is highly effective in resolving conflicts and achieving smooth flow. The results are formally proven and illustrated using simulation.

Original languageEnglish (US)
Title of host publication2017 American Control Conference, ACC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781509059928
StatePublished - Jun 29 2017
Event2017 American Control Conference, ACC 2017 - Seattle, United States
Duration: May 24 2017May 26 2017

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2017 American Control Conference, ACC 2017
Country/TerritoryUnited States

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering


Dive into the research topics of 'Control of autonomous vehicles at an unsignalized intersection'. Together they form a unique fingerprint.

Cite this