{"id":"https://openalex.org/W4391769908","doi":"https://doi.org/10.1109/itsc57777.2023.10422617","title":"Invariant Safe Contingency Model Predictive Control for Intersection Coordination of Mixed Traffic","display_name":"Invariant Safe Contingency Model Predictive Control for Intersection Coordination of Mixed Traffic","publication_year":2023,"publication_date":"2023-09-24","ids":{"openalex":"https://openalex.org/W4391769908","doi":"https://doi.org/10.1109/itsc57777.2023.10422617"},"language":"en","primary_location":{"id":"doi:10.1109/itsc57777.2023.10422617","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc57777.2023.10422617","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101693700","display_name":"Xiao Chen","orcid":"https://orcid.org/0009-0001-7409-0059"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Xiao Chen","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology,Division of Decision and Control Systems,Stockholm,Sweden,SE-10044"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology,Division of Decision and Control Systems,Stockholm,Sweden,SE-10044","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020507591","display_name":"Jonas M\u00e5rtensson","orcid":"https://orcid.org/0000-0002-3672-5316"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Jonas M\u00e5rtensson","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology,Division of Decision and Control Systems,Stockholm,Sweden,SE-10044"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology,Division of Decision and Control Systems,Stockholm,Sweden,SE-10044","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101693700"],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":0.1683,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.51689688,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"3369","last_page":"3376"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.9728000164031982,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.9728000164031982,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T14270","display_name":"Simulation and Modeling Applications","score":0.909500002861023,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.6318292617797852},{"id":"https://openalex.org/keywords/contingency","display_name":"Contingency","score":0.5869839191436768},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.5839136838912964},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5733112096786499},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5235537886619568},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.259944349527359},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2462817132472992},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19786548614501953},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19038733839988708},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.16369971632957458}],"concepts":[{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.6318292617797852},{"id":"https://openalex.org/C97508593","wikidata":"https://www.wikidata.org/wiki/Q1359069","display_name":"Contingency","level":2,"score":0.5869839191436768},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.5839136838912964},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5733112096786499},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5235537886619568},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.259944349527359},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2462817132472992},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19786548614501953},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19038733839988708},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.16369971632957458},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc57777.2023.10422617","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc57777.2023.10422617","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1965455100","https://openalex.org/W2006859604","https://openalex.org/W2061469207","https://openalex.org/W2105242877","https://openalex.org/W2472586899","https://openalex.org/W2562817597","https://openalex.org/W2772946107","https://openalex.org/W2890108670","https://openalex.org/W2905111361","https://openalex.org/W2923817898","https://openalex.org/W2962775887","https://openalex.org/W2972896277","https://openalex.org/W3047185941","https://openalex.org/W3047545417","https://openalex.org/W3114470638","https://openalex.org/W3130676412","https://openalex.org/W3158413423","https://openalex.org/W3199113962","https://openalex.org/W3200913209","https://openalex.org/W3208617162","https://openalex.org/W4308080056","https://openalex.org/W6757787546"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W1990079087","https://openalex.org/W2060165215","https://openalex.org/W2390279801","https://openalex.org/W2101188133","https://openalex.org/W3202234113","https://openalex.org/W2358668433","https://openalex.org/W4248731570","https://openalex.org/W2376932109","https://openalex.org/W1999445737"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,51,62,67,85,90,94,102,107,110,136,140,143,150,158,179,187,199],"coordination":[4,27],"challenge":[5],"at":[6,139],"intersections":[7],"of":[8,66,93,106,135,142,157],"mixed":[9],"traffic":[10],"involving":[11],"both":[12],"Human-Driven":[13],"Vehicles":[14,20],"(HDVs)":[15],"and":[16,18,29,70,97,153],"Connected":[17],"Autonomous":[19],"(CAVs).":[21],"To":[22],"strike":[23],"a":[24,54,71],"balance":[25],"between":[26],"performance":[28,59,155,192],"safety":[30,99,114,201],"guarantees,":[31],"we":[32,88,177],"propose":[33],"an":[34,77],"invariant":[35,78,120,159,168,200],"safe":[36,79,121,160,169],"Contingency":[37],"Model":[38,170],"Predictive":[39,171],"Control":[40,172],"(CMPC)":[41],"framework.":[42],"The":[43,126,182],"CMPC":[44,161,188],"framework":[45],"incorporates":[46],"two":[47,127],"parallel":[48],"horizons":[49,128],"for":[50,58,82],"ego":[52],"vehicle:":[53],"nominal":[55,167],"horizon":[56,73],"optimized":[57],"based":[60],"on":[61],"most":[63],"likely":[64],"prediction":[65],"opponent":[68],"HDV,":[69],"contingency":[72,86],"designed":[74],"to":[75,163],"maintain":[76],"backup":[80],"plan":[81],"emergencies.":[83],"In":[84],"horizon,":[87],"consider":[89],"worst-case":[91],"behavior":[92],"human":[95],"driver":[96],"formulate":[98],"constraints":[100,115],"using":[101],"forward":[103],"reachable":[104],"sets":[105,122],"HDV":[108],"within":[109],"planning":[111],"horizon.":[112],"These":[113],"are":[116,129],"complemented":[117],"by":[118,132,193],"maximal":[119],"as":[123],"terminal":[124],"constraints.":[125],"tied":[130],"together":[131],"enforcing":[133],"equality":[134],"feedback":[137],"inputs":[138],"beginning":[141],"horizons.":[144],"We":[145],"provide":[146],"theoretical":[147],"evidence":[148],"supporting":[149],"recursive":[151],"feasibility":[152],"persistent":[154],"improvement":[156],"compared":[162],"our":[164],"previously":[165],"proposed":[166,180],"(MPC).":[173],"Through":[174],"simulation":[175,183],"studies,":[176],"evaluate":[178],"method.":[181],"results":[184],"demonstrate":[185],"that":[186],"approach":[189],"achieves":[190],"enhanced":[191],"reducing":[194],"conservatism":[195],"while":[196],"simultaneously":[197],"preserving":[198],"property.":[202]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}