Optimization based coordination of autonomous vehicles in confined areas

Confined areas present an opportunity for early deployment of autonomous vehicles (AV) due to the absence of non-controlled traffic participants. In this paper, we present an approach for coordination of multiple AVs in confined sites. The method computes speed-profiles for the AVs such that collisions are avoided in cross-intersection and merge crossings. Specifically, this is done through the solution of an optimal control problem where the motion of all vehicles is optimized jointly. The order in which the vehicles pass the crossings is determined through the solution of a Mixed Integer Quadratic Program (MIQP). Through simulation results, we demonstrate the capability of the algorithm in terms of performance and satisfaction of collision avoidance constraints.