车路协同环境下车辆群体协同决策研究综述

从车路协同环境下车辆群体协同决策机制、协同决策方法与典型应用场景方面分析了国内外车辆群体协同决策的研究现状；考虑车辆群体协同决策机制的不同，系统梳理了集中式和分布式2种决策机制的相关研究；针对车辆群体协同决策方法的多样性，以基于优化和基于启发式2类决策方法为主线，对比分析了不同决策方法的优劣；考虑车辆群体协同决策应用场景的不同，全面分析了匝道、路口、路段和路网等多个应用场景下车辆群体协同决策的相关理论与研究；考虑国内外车辆协同决策典型项目进展，分别梳理了中国、美国、日本和欧洲代表性车辆群体协同决策项目任务、建设与实施情况；从系统结构、普适模型和示范场景3个方面提出了未来车路协同环境下车辆群体协同决策的发展趋势。研究结果表明:集中式车辆群体协同决策机制有助于提升局部区域内的车辆通行性能，分布式车辆群体协同决策机制有助于提升全局范围内的交通运行状态；基于优化的车辆群体协同决策方法在特定场景下可最大程度提升决策效果，基于启发式的车辆群体协同决策方法在大多数场景下可获得可行的决策效果；由于不同场景下车辆群体协同决策问题的复杂性有所不同，需要在统一框架下做针对性建模。研究结果可为车路协同环境下新型混合交通系统的管理与控制提供参考。 

Research review on cooperative decision-making for vehicle swarms in vehicle-infrastructure cooperative environment

The research status of cooperative decision-making of vehicle swarms at home and abroad was analyzed from the aspects of mechanisms, methods, and typical application scenarios of cooperative decision-making for vehicle swarms in vehicle-infrastructure cooperative environments. Considering the different cooperative decision-making mechanisms of vehicle swarms, the research on two kinds of decision-making mechanisms, namely the centralized one and the distributed one, was systematically sorted out. Regarding the diversity of cooperative decision-making methods for vehicle swarms, the advantages and disadvantages of different decision-making methods were comparatively analyzed with the optimization-based and heuristics-based decision-making methods as the thread. As for the different application scenarios of cooperative decision-making for vehicle swarms, the theories and research on the cooperative decision-making for vehicle swarms were comprehensively analyzed in various application scenarios, such as ramps, intersections, road sections, and road networks, Concerning the progress of typical projects on the cooperative decision-making for vehicles at home and abroad, the tasks, construction, and implementation of representative projects on the cooperative decision-making for vehicle swarms in China, the United States, Japan, and Europe were sorted out, respectively. The future development trend of cooperative decision-making for vehicle swarms in vehicle-infrastructure cooperative environments was proposed from the three aspects of system structure, universal model, and demonstration scenarios. Research results show that the centralized cooperative decision-making mechanism for vehicle swarms can be employed to improve the vehicle traffic performance in local areas, whereas the distributed cooperative decision-making mechanism for vehicle swarms is conducive to promoting the global traffic operation. The optimization-based cooperative decision-making method for vehicle swarms can maximize the decision-making effect in specific scenarios, while feasible decision-making effects can be obtained by the heuristics-based cooperative decision-making method for vehicle swarms in most scenarios. Due to the different complexities of the cooperative decision-making problem for vehicle swarms in different scenarios, targeted modeling under a unified framework is required. The research results can provide a reference for the management and control of new hybrid traffic systems in vehicle-infrastructure cooperative environments.