Global multi-vehicle decision making system for connected and automated vehicles in dynamic environment

US11840256B2 · kind B2 · utility

Assignee

• Mitsubishi Electric Research Laboratories, Inc. · US

Inventors

• Rien Quirynen · Somerville, US
• Stefano Di Cairano · Newton, US
• Shreejith Ravikumar · Warren, US
• Akshay Bhagat · Squirrel Hill, US
• Eyad Zeino · Northville, US

Key dates

• Filing date: Jul 30, 2021
• Grant date: Dec 12, 2023
• Expiry date: Feb 7, 2042

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B60W2556/45
• WIPO field: Control
• WIPO sector: Instruments

Abstract

A global multi-vehicle decision making system is disclosed for providing real-time motion planning and coordination of one or multiple connected and automated and/or semi-automated vehicles (CAVs) in an interconnected traffic network that includes one or multiple non-controlled vehicles (NCVs), one or multiple conflict zones and one or multiple conflict-free road segments. The system includes a receiver configured to acquire infrastructure sensing signals, at least one memory configured to store map and programs, and at least one processor configured to perform steps of formulating a global mixed-integer programming (MIP) problem using the infrastructure sensing signals, computing a motion plan for each CAV and each NCV in the traffic network by solving the global MIP problem, computing an optimal sequence of entering/exiting times and a sequence of average velocities for each CAV and each NCV, and computing a velocity profile and/or one or multiple planned stops for each CAV.