Adaptive control for reliable cooperative intersection crossing of connected autonomous vehicles
Adaptive control for reliable cooperative intersection crossing of connected autonomous vehicles
复制标题
DOI：
10.1002/msd2.12050
复制
发表时间：
2022-09
期刊：
影响因子：
--
通讯作者：
Yu Wei;Xiaozheng He
中科院分区：
文献类型：
--
作者：
Yu Wei;Xiaozheng He
车辆自动化和通信技术的快速发展使互联的自动驾驶车辆（CAVs）能够协作穿过十字路口，这可以显着提高十字路口的交通吞吐量和安全性。基于车辆跟驰行为的虚拟排队是促进CAV交叉口协同穿越的一种很有前途的控制方法。然而，需求的变化提出了安全性和稳定性的问题时，CAV采用虚拟编队控制方法。沿着这条线，本研究提出了一种自适应车辆控制方法，以促进形成一个虚拟的车队和合作的CAV交叉口，在一个孤立的交叉口的需求变化的因素。该研究推导了随时间变化的交通需求的虚拟CAV车队的稳定性条件。基于推导的稳定性条件，提出了一种优化模型，通过平衡接近交通的机动性和安全性，自适应地控制CAV的动态行为，以提高交叉口协作过街的可靠性。仿真结果表明，与非自适应控制相比，该方法可以使交叉口的通行能力提高18.2%。此外，碰撞时间结果突出了所提出的自适应控制在确保交通安全方面的优势。
Rapid advances in vehicle automation and communication technologies enable connected autonomous vehicles (CAVs) to cross intersections cooperatively, which could significantly improve traffic throughput and safety at intersections. Virtual platooning, designed upon car‐following behavior, is one of the promising control methods to promote cooperative intersection crossing of CAVs. Nevertheless, demand variation raises safety and stability concerns when CAVs adopt a virtual platooning control approach. Along this line, this study proposes an adaptive vehicle control method to facilitate the formation of a virtual platoon and the cooperative crossing of CAVs, factoring demand variations at an isolated intersection. This study derives the stability conditions of virtual CAV platoons depending on the time‐varying traffic demand. Based on the derived stability conditions, an optimization model is proposed to adaptively control CAVs dynamics by balancing approaching traffic mobility and safety to enhance the reliability of cooperative crossing at intersections. The simulation results show that, compared to the nonadaptive control, our proposed method can increase the intersection throughput by 18.2%. Also, time‐to‐collision results highlight the advantages of the proposed adaptive control in securing traffic safety.