Project name: Centralized MPC for autonomous intersection crossing realized with MATLAB Simulink and IPG CarMaker.
Project done by:
Markus Carlander, Niklas Lidander, Lea Riegger, Nikolce Murgovski, Jonas Sjöberg.
Case presented in the video: The MPC is tested for three cars approaching the intersection. The desired crossing sequence is chosen to 1 (black car), 2 (white car approaching from the left), 3 (white car approaching from the right).
Without a controller, car 1 and 2 would collide in the intersection, which can be seen on https://youtu.be/LKcXflY6Mtw.
The MPC takes control over a vehicle when it has entered the control radius of the intersection. When vehicle 1 comes closer to the intersection, it can be observed that it starts to accelerate and vehicle 2 starts to decelerate in order to avoid a collision. The third vehicle slows down to avoid a collision between the second and third vehicle.
Post time: Aug-24-2017