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A Piecewise Linearization Algorithm for Solving MINLP in Intersection Management

Topics: Accident Prevention; Automated Road Transport; Automotive Control and Mechatronics; Autonomous Vehicles and Automated Driving; Cooperative Driving and Traffic Management; Intelligent Infrastructure and Guidance Systems; Urban Mobility and Multimodal Transportation; Vehicle Telematics; Vehicular Cloud Computing; Vehicular Networks

Authors: Matthias Gerdts 1 ; Sergejs Rogovs 1 and Giammarco Valenti 2

Affiliations: 1 Institute of Engineering Mathematics, Bundeswehr University Munich, Germany ; 2 Department of Industrial Engineering, University of Trento, Italy

Keyword(s): Connected and Automated Vehicles, Cooperative Driving, Intersection Management, Piecewise Linearization, Mixed Integer Nonlinear Programming.

Abstract: In this paper, we propose a linearization algorithm for solving a Mixed Integer NonLinear Problem (MINLP) for Intersection Management (IM) of Connected Autonomous Vehicles (CAVs). The objective of such problem is to minimize the time it takes to clear a given arbitrary intersection for all vehicles in the consideration. We treat the IM problem as a bi-level optimization problem. On the lower level we solve an Optimal Control Problem (OCP) for each individual vehicle, whereas on the higher level we deal with an optimization problem of finding the optimal sequence and starting times for every car, which essentially yields a MINLP. An intuitive linearization technique is presented to solve the emerging MINLP in a reasonable time. The actual controls, if necessary, are computed a posteriori by minimizing the L2-norm of control variables. The algorithm is tested in different intersection scenarios. Numerical results show that it is suitable for real-time applications.

CC BY-NC-ND 4.0

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Paper citation in several formats:
Gerdts, M.; Rogovs, S. and Valenti, G. (2021). A Piecewise Linearization Algorithm for Solving MINLP in Intersection Management. In Proceedings of the 7th International Conference on Vehicle Technology and Intelligent Transport Systems - VEHITS; ISBN 978-989-758-513-5; ISSN 2184-495X, SciTePress, pages 438-445. DOI: 10.5220/0010437104380445

@conference{vehits21,
author={Matthias Gerdts. and Sergejs Rogovs. and Giammarco Valenti.},
title={A Piecewise Linearization Algorithm for Solving MINLP in Intersection Management},
booktitle={Proceedings of the 7th International Conference on Vehicle Technology and Intelligent Transport Systems - VEHITS},
year={2021},
pages={438-445},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010437104380445},
isbn={978-989-758-513-5},
issn={2184-495X},
}

TY - CONF

JO - Proceedings of the 7th International Conference on Vehicle Technology and Intelligent Transport Systems - VEHITS
TI - A Piecewise Linearization Algorithm for Solving MINLP in Intersection Management
SN - 978-989-758-513-5
IS - 2184-495X
AU - Gerdts, M.
AU - Rogovs, S.
AU - Valenti, G.
PY - 2021
SP - 438
EP - 445
DO - 10.5220/0010437104380445
PB - SciTePress