無信号交差点における接続自動運転車の競合なし協調手法：グラフベースモデリングと最適性解析
Conflict-free Cooperation Method for Connected and Automated Vehicles at Unsignalized Intersections: Graph-based Modeling and Optimality Analysis
無信号交差点での車両通過順序をグラフ理論でモデル化し、局所最適解と大域最適解を求める2つのアルゴリズムを提案して、分散制御で競合のない協調走行を実現した。
著者: Chaoyi Chen, Qing Xu, Mengchi Cai, Jiawei Wang, Jianqiang Wang, Biao Xu, Keqiang Li
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Connected and automated vehicles have shown great potential in improving traffic mobility and reducing emissions, especially at unsignalized intersections. Previous research has shown that vehicle passing order is the key influencing factor in improving intersection traffic mobility. In this paper, we propose a graph-based cooperation method to formalize the conflict-free scheduling problem at an unsignalized intersection. Based on graphical analysis, a vehicle's trajectory conflict relationship is modeled as a conflict directed graph and a coexisting undirected graph. Then, two graph-based methods are proposed to find the vehicle passing order. The first is an improved depth-first spanning tree algorithm, which aims to find the local optimal passing order vehicle by vehicle. The other novel method is a minimum clique cover algorithm, which identifies the global optimal solution. Finally, a distributed control framework and communication topology are presented to realize the conflict-free cooperation of vehicles. Extensive numerical simulations are conducted for various numbers of vehicles and traffic volumes, and the simulation results prove the effectiveness of the proposed algorithms.
