A Hybrid Coordinated Decision-Making Method for CAVs at Unsignalized Intersection - Systèmes Robotiques en Interaction
Communication Dans Un Congrès Année : 2024

A Hybrid Coordinated Decision-Making Method for CAVs at Unsignalized Intersection

Résumé

Aiming at the Connected Autonomous Vehicles (CAVs) crossing the unsignalized intersection problem, a hybrid coordinated optimization method is studied in this paper. The proposed approach consists of a Multi-Risk Management of Cooperative Optimization approach based on the Predicted Inter-Distance Profile (MRMCO-PIDP), and Epsilon Probability Collective algorithm (Epsilon-PC) to make CAVs apply cooperative and adaptive velocity planning to navigate safely and quickly in unsignalized intersections. It is the first use of PIDP for multi-risk assessment and management for CAVs. According to the computation of PIDP metric [1] regarding other vehicles with risk of collision and its controlled minimum (mPIDP), CAVs can find the most effective speed profile for collision avoidance in an unsignalized intersection. Several random scenarios are performed in simulation to demonstrate the reliability of the proposed approach.
Fichier principal
Vignette du fichier
2024_He_ECC.pdf (997.33 Ko) Télécharger le fichier
Origine Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-04525841 , version 1 (16-04-2024)

Identifiants

  • HAL Id : hal-04525841 , version 1

Citer

Shan He, Lounis Adouane. A Hybrid Coordinated Decision-Making Method for CAVs at Unsignalized Intersection. 22nd European Control Conference (ECC24), European Control Association; KTH Royal Institute of Technology, Jun 2024, Stockholm, Sweden. ⟨hal-04525841⟩
57 Consultations
54 Téléchargements

Partager

More