Cooperative Control of Intersection Connected Vehicles under Constrained Communication Resource

Abstract

The development of automation and vehicle communication has enabled the cooperative control of vehicles at an intersection. In practice, in order to realize coordinated decisions and cooperative actions, information exchange among vehicles via a wireless network is susceptible to be affected by limited communication resources. In this paper, we consider a vehicle coordination and communication resource-aware problem under limited communication resources. Firstly, to address this issue, we propose a distributed model predictive control (DMPC) method with priority for each vehicle, which will reduce the impact of prediction consistency loss caused by communication delay. In addition, a prediction-based trigger mechanism is constructed for the proposed DMPC method, which predicts the usage of communication in advance and facilitates resource scheduling. Finally, we evaluated our scheme by the simulation of multi-vehicles, which demonstrates the effectiveness of communication saving while avoiding collisions and stop-deadlock.