Contention-Resolving Model Predictive Control for Coordinating Automated Vehicles at a Multi-Lane Traffic Intersection

In this paper, we study the scenario that connected and automated vehicles (or CAVs) cross a multi-lane intersection, where the intersection is divided into multiple spaces for vehicles to travel through. The divided spaces within an intersection are the resources that CAVs compete for. For each CAV, there is a fixed sequence of the resources that it must follow without interruption. To model the nonlinear dynamics of timing evolution and solve the scheduling and control codesign problem in the multi-lane intersection, we establish a new analytical timing model for such non-preemptive multi-resource and multi-task with fixed occupation order. The contentionresolving model predictive control (or MPC) is also modified to incorporate the more complicated timing model, such that all CAVs can drive through the intersection with minimal total time delay. The illustrative example in the simulation is provided to verify the effectiveness of our approach comparing with the first-come-first-serve (or FCFS) scheduling strategy.