Scheduling-Based Optimization for Motion Coordination of Autonomous Vehicles at Multilane Intersections

<div>Illustration of the projected motion of vehicle <svg height="11.927pt" id="M336" style="vertical-align:-3.291101pt" version="1.1" viewbox="-0.0498162 -8.6359 13.4377 11.927" width="13.4377pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M686 28C612 35 607 44 591 112C563 234 541 360 519 489L489 666L457 658L147 121C100 40 89 36 24 28L17 0H240L250 28C168 34 159 41 190 101L262 237H482C495 180 503 137 510 91C517 47 514 35 441 28L433 0H677L686 28ZM475 280H285L429 541H431L475 280Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,10.244,3.132)"><path d="M250 606C250 634 233 656 203 656C168 656 146 618 146 593C146 564 169 545 192 545C227 545 250 573 250 606ZM227 95L212 119C187 98 152 71 135 71C129 71 128 78 134 102L207 373C219 418 217 451 194 451C165 451 92 411 30 351L44 326C77 353 106 371 114 371C124 371 121 357 117 341L55 97C32 5 46 -12 70 -12C108 -12 191 51 227 95Z"></path></g></svg> during its movement, with duration <span class="nowrap"><svg height="13.8999pt" id="M337" style="vertical-align:-3.94351pt" version="1.1" viewbox="-0.0498162 -9.95639 13.0045 13.8999" width="13.0045pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M574 449L545 460C526 432 516 430 487 430C404 430 311 435 226 435C104 435 56 379 25 341L43 318C81 354 121 372 181 372C161 246 87 53 23 3L30 -12C48 -12 88 -4 113 11C157 75 207 248 232 371L386 367L326 109C321 86 318 66 318 50C318 4 339 -12 366 -12C410 -12 461 21 505 69L492 96C467 79 434 60 418 60C406 60 400 78 411 147C422 217 439 300 457 366C487 366 524 367 536 370C547 385 558 408 574 449Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.684,-5.741)"><path d="M490 97L476 124C442 96 405 70 398 70C392 70 390 78 396 114C419 243 448 379 463 432L457 436C446 436 431 439 418 442C393 447 368 451 343 451C281 451 204 418 155 381C74 320 24 206 24 107C24 23 59 -12 88 -12C118 -12 155 5 191 34C236 70 290 122 328 177H330L312 84C296 0 311 -12 331 -12C355 -12 425 24 490 97ZM374 387C371 367 360 299 347 264C323 202 187 53 142 53C128 53 113 73 113 120C113 224 157 332 221 380C241 395 274 403 303 403C330 403 360 395 374 387Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.358,3.784)"><path d="M250 606C250 634 233 656 203 656C168 656 146 618 146 593C146 564 169 545 192 545C227 545 250 573 250 606ZM227 95L212 119C187 98 152 71 135 71C129 71 128 78 134 102L207 373C219 418 217 451 194 451C165 451 92 411 30 351L44 326C77 353 106 371 114 371C124 371 121 357 117 341L55 97C32 5 46 -12 70 -12C108 -12 191 51 227 95Z"></path></g></svg>,</span> across the control and intersection regions, respectively, for the time instances of the set <span class="nowrap"><svg height="13.8999pt" id="M338" style="vertical-align:-3.94351pt" version="1.1" viewbox="-0.0498162 -9.95639 17.1931 13.8999" width="17.1931pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M896 675C863 652 826 634 783 634C683 634 549 687 439 687C259 687 128 601 128 473C128 383 196 329 279 329C392 329 469 405 496 541H476C440 428 385 359 286 359C224 359 169 400 169 480C169 566 257 641 382 641C475 641 622 584 731 584C796 584 862 620 907 657L896 675ZM658 553C579 484 521 424 454 277C364 81 295 16 184 16C120 16 82 44 78 79H80C87 68 100 67 108 67C136 67 153 89 153 116S131 165 104 165C69 165 43 139 43 91C43 31 110 -15 191 -15C263 -15 321 6 378 45C463 101 526 197 557 304C588 413 618 487 671 539L658 553Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,11.856,-5.741)"><path d="M490 97L476 124C442 96 405 70 398 70C392 70 390 78 396 114C419 243 448 379 463 432L457 436C446 436 431 439 418 442C393 447 368 451 343 451C281 451 204 418 155 381C74 320 24 206 24 107C24 23 59 -12 88 -12C118 -12 155 5 191 34C236 70 290 122 328 177H330L312 84C296 0 311 -12 331 -12C355 -12 425 24 490 97ZM374 387C371 367 360 299 347 264C323 202 187 53 142 53C128 53 113 73 113 120C113 224 157 332 221 380C241 395 274 403 303 403C330 403 360 395 374 387Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,11.856,3.784)"><path d="M250 606C250 634 233 656 203 656C168 656 146 618 146 593C146 564 169 545 192 545C227 545 250 573 250 606ZM227 95L212 119C187 98 152 71 135 71C129 71 128 78 134 102L207 373C219 418 217 451 194 451C165 451 92 411 30 351L44 326C77 353 106 371 114 371C124 371 121 357 117 341L55 97C32 5 46 -12 70 -12C108 -12 191 51 227 95Z"></path></g></svg>.</span></div>

Journal of Robotics

fig9

Figure 9

Figure 9: Scheduling-Based Optimization for Motion Coordination of Autonomous Vehicles at Multilane Intersections 