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Communication Dans Un Congrès Année : 2024

Reactive Cooperation of Multi-Vehicle System for Efficient Intersection Crossing based on PIDP Speed Space Assessment

Résumé

This paper proposes a Dynamic Collision-Free Cooperative decision-making method based on the Predicted InterDistance Profile (DCFC-PIDP) for Connected Autonomous Vehicles (CAVs), aimed at solving congestion, and increasing the efficiency and safety of the transport system. Under this framework, this paper studies a typical urban driving scenario: unsignalized intersection. The method employs a greedy algorithm to explore with an appropriate metrics, the main possible scenarios, involving CAVs with a risk of collision and f ind the suboptimal feasible solution. The decision-making cost function is constructed by considering the risk of collisions and the passing efficiency of CAVs. Finally, the effectiveness and feasibility of the proposed decision-making framework are verified under statistic studies.
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Dates et versions

hal-04588349 , version 1 (26-05-2024)

Identifiants

  • HAL Id : hal-04588349 , version 1

Citer

Shan He, Lounis Adouane. Reactive Cooperation of Multi-Vehicle System for Efficient Intersection Crossing based on PIDP Speed Space Assessment. 13th International Workshop on Robot Motion and Control (RoMoCo'24), Institute of Automatic Control and Robotics; Poznan University of Technology, Jul 2024, Poznan, Poland. ⟨hal-04588349⟩
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