Technical Paper
Time-Optimal Trajectory Planning for Multi-Vehicle Coordinated Left-Turn Condition at an Unsignalized Intersection
2021-04-06
2021-01-0096
The left-turn condition is the most complicated one at the unsignalized intersection, which is one of the key factors that affect traffic safety and efficiency. To solve this problem, this study proposes a distributed trajectory optimization framework based on the Gauss pseudospectral method (GPM). First, a circular obstacle based on the road size is constructed to replace the actual path constraint. The movement of obstacle is used for iterative calculations, and the trajectory of the left-turn vehicle is approached to the theoretical path. Then, for the multi-vehicle coordinated condition, the collision free constraints between vehicles is added to the optimization framework several times. In addition, the previous calculation result is used as the initial guess solution for the next calculation until all constraints are set.
