Model Predictive Control for Speed Regulation of Autonomous Vehicles at Road Intersections and Performance Evaluation in a V2X Communication Scenario

The paper aims at evaluating the performance of a centralised control strategy, based on a scheduling procedure and MPC (model predictive control), that regulates the crossing of a four-way intersection by autonomous vehicles avoiding collisions in a V2X (vehicle-to-everything) communication scenario. In particular, we evaluate the performance considering different communication channel gain conditions, with packet loss process implemented through a Bernoullian probabilistic model based on the V2X communication protocol, as well as the impact of transmitting to the vehicles control aggregated commands of multiple future time horizons.