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Distributed conflict-free cooperation for multiple connected vehicles at unsignalized intersections

2018; Elsevier BV; Volume: 93; Linguagem: Inglês

10.1016/j.trc.2018.06.004

1879-2359

Biao Xu, Shengbo Eben Li, Yougang Bian, Shen Li, Xuegang Ban, Jianqiang Wang, Keqiang Li,

Slime Mold and Myxomycetes Research

Connected vehicles will change the modes of future transportation management and organization, especially at intersections. In this paper, we propose a distributed conflict-free cooperation method for multiple connected vehicles at unsignalized intersections. We firstly project the approaching vehicles from different traffic movements into a virtual lane and introduce a conflict-free geometry topology considering the conflict relationship of involved vehicles, thus constructing a virtual platoon. Then we present the modeling of communication topology to describe two modes of information transmission between vehicles. Finally, a distributed controller is designed to stabilize the virtual platoon for conflict-free cooperation at intersections. Numerical simulations validate the effectiveness of this method.