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This document presents a stochastic model predictive control approach for coordinating human-driven vehicles at intersections without traffic lights or signs. The approach issues speed advice to drivers while accounting for uncertain driver reaction times. A scenario-based approach is used, which draws samples from the uncertainty set over the prediction horizon. Optimization is performed over all scenarios to provide probabilistic guarantees of constraint satisfaction and collision avoidance. Simulation re

Author

namcozengin

Language

EN