Research on Multi-vehicle Cooperative Control Method for Autonomous Driving at Unsignalized Intersections

doi:10.3901/JME.2024.20.217

Abstract

Abstract: Addressing the insufficient safety and poor interactivity issues at unsignalized intersections with multiple vehicles, a distributed autonomous driving multi-vehicle cooperative control method is proposed. Firstly, a trajectory prediction model is utilized to obtain the future 3-second motion trajectories of all vehicles within the intersection as input for conflict screening. Secondly, a safety assessment model based on the responsibility-sensitive safety(RSS) model is established to evaluate the interaction between vehicles by assessing their predicted trajectories. Thirdly, a multi-vehicle cooperative control framework based on game theory and the intelligent driver model(IDM) is constructed. The interaction process between conflicting vehicles is modeled as a Nash equilibrium problem, and cooperative control strategies for multiple vehicles are generated by solving optimization problems. Vehicles that do not interact with other vehicles are controlled by IDM, thereby achieving separate control and joint action for all vehicles. Finally, the proposed method is validated in a simulated scenario of an unsignalized intersection. Experimental results demonstrate that compared to baseline methods, the proposed approach effectively enhances safety, real-time performance, and traffic efficiency.

Key words: unsignalized intersections, multi-vehicle control, game theory, trajectory prediction, safety assessment

CLC Number:

U461

TANG Xiaolin, YANG Jianying, YANG Kai, LI Wenbo. Research on Multi-vehicle Cooperative Control Method for Autonomous Driving at Unsignalized Intersections[J]. Journal of Mechanical Engineering, 2024, 60(20): 217-228.

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