Distributed conflict-free cooperation for multiple connected vehicles at unsignalized intersections. (August 2018)

• Record Type: Journal Article
• Authors: Xu, Biao; Li, Shengbo Eben; Bian, Yougang; Li, Shen; Ban, Xuegang Jeff; Wang, Jianqiang; Li, Keqiang
• Is Part Of: Transportation research. Volume 93(2018)
• Page Start: 322
• Page End: 334
• Publication Date: 2018-08
• Subjects: Connected and automated vehicle -- Cooperative control -- Unsignalized intersection -- Virtual platoon; Transportation -- Periodicals; Transportation -- Technological innovations -- Periodicals; 388.011
• DOI: 10.1016/j.trc.2018.06.004
• Languages: English
• ISSNs: 0968-090X

Abstract

Highlights: A CAVs distributed cooperation method for unsignalized intersections is proposed. Rotation projection is used to transform 2D vehicle clusters to 1D virtual platoons. A spanning tree is used to construct the conflict-free geometry topology. The algebraic graph theory is used to model the system dynamics. 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.