网联自动驾驶车辆可靠协同过路口的自适应控制

IF 3.4 Q1 ENGINEERING, MECHANICAL 国际机械系统动力学学报(英文) Pub Date : 2022-09-30 DOI:10.1002/msd2.12050
Yu Wei, Xiaozheng (Sean) He
{"title":"网联自动驾驶车辆可靠协同过路口的自适应控制","authors":"Yu Wei,&nbsp;Xiaozheng (Sean) He","doi":"10.1002/msd2.12050","DOIUrl":null,"url":null,"abstract":"<p>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.</p>","PeriodicalId":60486,"journal":{"name":"国际机械系统动力学学报(英文)","volume":null,"pages":null},"PeriodicalIF":3.4000,"publicationDate":"2022-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/msd2.12050","citationCount":"0","resultStr":"{\"title\":\"Adaptive control for reliable cooperative intersection crossing of connected autonomous vehicles\",\"authors\":\"Yu Wei,&nbsp;Xiaozheng (Sean) He\",\"doi\":\"10.1002/msd2.12050\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<p>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.</p>\",\"PeriodicalId\":60486,\"journal\":{\"name\":\"国际机械系统动力学学报(英文)\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":3.4000,\"publicationDate\":\"2022-09-30\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://onlinelibrary.wiley.com/doi/epdf/10.1002/msd2.12050\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"国际机械系统动力学学报(英文)\",\"FirstCategoryId\":\"1087\",\"ListUrlMain\":\"https://onlinelibrary.wiley.com/doi/10.1002/msd2.12050\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"ENGINEERING, MECHANICAL\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"国际机械系统动力学学报(英文)","FirstCategoryId":"1087","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1002/msd2.12050","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, MECHANICAL","Score":null,"Total":0}
引用次数: 0

摘要

车辆自动化和通信技术的快速发展使联网自动驾驶汽车(cav)能够协同穿过十字路口,这可以显着提高十字路口的交通吞吐量和安全性。基于车辆跟随行为设计的虚拟队列是促进自动驾驶汽车协同过路口的一种很有前途的控制方法。然而,当自动驾驶汽车采用虚拟队列控制方法时,需求变化引发了安全性和稳定性问题。在此基础上,本研究提出了一种考虑孤立交叉口需求变化的自适应车辆控制方法,以促进虚拟队列的形成和自动驾驶汽车的协同穿越。本文导出了随时变交通需求变化的虚拟CAV队列的稳定性条件。基于导出的稳定性条件,提出了一种平衡接近交通机动性和安全性的自动驾驶汽车动态自适应控制优化模型,以提高交叉口协同通行的可靠性。仿真结果表明,与非自适应控制相比,该方法可使交叉口吞吐量提高18.2%。同时,碰撞时间结果也突出了自适应控制在保障交通安全方面的优势。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

摘要图片

查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
Adaptive control for reliable cooperative intersection crossing of connected autonomous vehicles

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.

求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
CiteScore
3.50
自引率
0.00%
发文量
0
期刊最新文献
Issue Information Cover Image, Volume 4, Number 3, September 2024 Design of bionic water jet thruster with double-chamber driven by electromagnetic force A data-assisted physics-informed neural network (DA-PINN) for fretting fatigue lifetime prediction Comparison of the performance and dynamics of the asymmetric single-sided and symmetric double-sided vibro-impact nonlinear energy sinks with optimized designs
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1