Improved Consensus ADMM for Cooperative Motion Planning of Large-Scale Connected Autonomous Vehicles with Limited Communication

Introduction

Please refer to the corresponding preprinted paper for detailed information by clicking the link [Paper] .

Results

Bird eye view of the cooperative driving performance with 80 CAVs

The spectator is located at the conor of the traffic system. The CAVs are driving collaboratively without any collision in the intersection crossing and overtaking manuvers.

Close-up view of the cooperative driving performance between two intersections with different numbers of CAVs

The number of CAVs is 60 for this Demonstration.

The number of CAVs is 80 for this Demonstration.

The number of CAVs is 100 for this Demonstration.

First person view of the cooperative driving performance with 80 CAVs

Center: CAV 0 ~ CAV 8.

Left: CAV 9 ~ CAV 17. Right: CAV 18 ~ CAV 26.

Left: CAV 27 ~ CAV 35. Right: CAV 36 ~ CAV 44.

Left: CAV 45 ~ CAV 53. Right: CAV 54 ~ CAV 62.

Left: CAV 63 ~ CAV 71. Right: CAV 71 ~ CAV 80.

If you find this project inspiring, please kindly cite it using:

@article{liu2024improved,

title={Improved Consensus ADMM for Cooperative Motion Planning of Large-Scale Connected Autonomous Vehicles with Limited Communication},

author={Liu, Haichao and Huang, Zhenmin and Zhu, Zicheng and Li, Yulin and Shen, Shaojie and Ma, Jun},

journal={arXiv preprint arXiv:2401.09032},

year={2024}

}