|Table of Contents|

Distributed cooperative decision-making method for vehicle swarms in large-scale road networks(PDF)

《交通运输工程学报》[ISSN:1671-1637/CN:61-1369/U]

Issue:
2022年03期
Page:
174-183
Research Field:
交通信息工程及控制
Publishing date:

Info

Title:
Distributed cooperative decision-making method for vehicle swarms in large-scale road networks
Author(s):
PEI Hua-xin1; 2;  YANG Jing-xuan1; 2;  HU Jian-ming1; 2;  ZHANG Yi1; 2; 3; 4
(1. School of Inoformation Science and Technology, Tsinghua University, Beijing 100084, China; 2. Beijing National Research Center for Information Science and Technology(BNRist), Tsinghua University, Beijing 100084, China; 3. Tsinghua-Berkeley Shenzhen Institute(TBSI), Shenzhen 518055, Guangdong, China; 4. Collaborative Innovation Center of Modern Urban Traffic Technologies, Southest University, Nanjing 210096, Jiangsu, China)
Keywords:
intelligent transportation;  intelligent vehicle-infrastructure cooperative system;  cooperative decision-making;  large-scale road network;  distributed strategy
PACS:
U491.2
DOI:
10.19818/j.cnki.1671-1637.2022.03.014
Abstract:
To resolve the cooperative decision-making problem for vehicle swarms in large-scale road networks under the vehicle-infrastructure cooperative environment, a distributed cooperative decision-making method for vehicle swarms was proposed. On the basis of the in-depth analysis on the traffic control characteristics, the road network decomposition model was built to decompose the large-scale cooperative decision-making problem into several homogeneous small-scale sub-problems, each covering three different types of traffic areas: the upstream road segment, intersection, and downstream road segment. By the virtual vehicle mapping technique, the cooperative decision-making model of vehicle swarms was constructed to transform the two-dimensional cooperative decision-making problem of vehicle swarms at intersections into a one-dimensional problem. Similar to the cooperative decision-making method for vehicle swarms in the road segment areas, the interaction and conflict resolution between vehicles at intersections were accomplished by controlling the equivalent time headway of vehicles in the virtual vehicle platoon, and then the unified cooperative decision-making parameters were used to solve the cooperative decision-making problem of vehicle swarms in different areas of each sub-problem. Upon the unification of the cooperative decision-making parameters of vehicle swarms in different areas, the cooperative mechanism between the upstream and downstream areas was designed to ensure that the appropriate driving decisions could be made by the upstream vehicles under the full consideration of the downstream traffic states. Simulation results show that under different traffic demand settings, smooth spatiotemporal trajectories are presented by all vehicles while passing through the conflict areas after the proposed method is adopted, and the violent fluctuations in vehicle spatiotemporal trajectories are avoided. Compared with the purely distributed method, the fuel consumption of vehicles reduces by up to 14% with the proposed method under the given simulation conditions. Therefore, the proposed distributed cooperative decision-making method for vehicle swarms is effective in reducing the impact of conflict areas on the traffic flow continuity after being implemented in large-scale road networks, and thus ensuring the safe, smooth, and environmentally friendly driving of vehicles. 7 figs, 30 refs.

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Last Update: 2022-07-20