Distributed conflict-free cooperation for multiple connected vehicles at unsignalized intersections |
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| Institution: | 1. State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, China;2. Department of Civil and Environmental Engineering, University of Wisconsin-Madison, Madison 53706, USA;3. Department of Civil and Environmental Engineering, University of Washington, Seattle 98105, USA;1. 140 Civil Engineering Building, Department of Civil, Environmental, and Geo-Engineering, University of Minnesota, 500 Pillsbury Drive SE, Minneapolis, MN 55455, United States;2. School of Civil and Environmental Engineering, UNSW Sydney, NSW 2052, Australia;1. State Key Laboratory of Automotive Safety & Energy, School of Vehicle and Mobility, Tsinghua University, Beijing, China;2. State Key Laboratory of Advanced Design & Manufacturing for Vehicle Body, College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China;1. School of Civil and Environmental Engineering, Nanyang Technological University, Singapore;2. Department of Computer Science, Dartmouth College, NH, United States |
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| Abstract: | Connected vehicles will change the modes of future transportation management and organization, especially at intersections. In this paper, we propose a distributed conflict-free cooperation method for multiple connected vehicles at unsignalized intersections. We firstly project the approaching vehicles from different traffic movements into a virtual lane and introduce a conflict-free geometry topology considering the conflict relationship of involved vehicles, thus constructing a virtual platoon. Then we present the modeling of communication topology to describe two modes of information transmission between vehicles. Finally, a distributed controller is designed to stabilize the virtual platoon for conflict-free cooperation at intersections. Numerical simulations validate the effectiveness of this method. |
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| Keywords: | Connected and automated vehicle Cooperative control Unsignalized intersection Virtual platoon |
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