Design of a supervisory controller for cooperative intersection control using model predictive control

F.M.G. Creemers, A.I. Morales Medina, A.A.J. Lefeber, N. van de Wouw

Research output: Contribution to journalConference articlepeer-review

5 Citations (Scopus)


The Cooperative Intersection Control (CIC) methodology ensures a safe, smooth traffic flow through an automated intersection by means of virtual platooning. In this paper, we address the design of a centralised supervisory controller for CIC which optimises the crossing sequence of vehicles. We propose an approach in which the intersection as a whole is modelled as a hybrid system, which evolves in both continuous-time and in discrete-time. This hybrid system model resembles a queueing system, and relates the entry of vehicles into the intersection to a measure of the delay of their travel through the intersection. We design a supervisory controller using Model Predictive Control (MPC), which aims to minimise the vehicles’ average delay by controlling their access to the intersection. A simulation study based on real-life data demonstrates the effectiveness of the MPC approach compared to a first-come-first-served (FCFS) policy and a conventional traffic light controller. This study shows that MPC achieves a faster transient response and a lower average delay, thereby increasing the throughput of the intersection.
Original languageEnglish
Pages (from-to)74-79
Number of pages6
Issue number33
Publication statusPublished - 2018
Event5th IFAC Conference on Analysis and Control of Chaotic Systems (IFAC CHAOS 2018)
- Eindhoven, Netherlands
Duration: 30 Oct 20181 Nov 2018


  • Autonomous vehicles
  • Cooperative Intersection Control
  • Hybrid systems
  • Model Predictive Control
  • Traffic control


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