Performance Analysis of Model Predictive Intersection Control for Autonomous Vehicles

The paper focuses on the control challenge of intersections related to the appearance of autonomous vehicles on the roads, which established mixed traffic situations with human-driven vehicles or scenarios with only autonomous vehicles. The goal of the research is to control autonomous vehicles by Model Predictive Control method to guarantee the collision-free passage at the intersection. Generally the outcome of a traffic situation can be varied by human-driven vehicles and fully automated vehicles. Therefore the results of the proposed coordination method used for a given intersection scenario is compared to solution of human-driven vehicles. For the comparison the simulation examples were made in VISSIM and CarSim simulation environments.