J Shanghai Jiaotong Univ Sci ›› 2023, Vol. 28 ›› Issue (1): 150-160.doi: 10.1007/s12204-023-2577-z

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Straight-Going Priority in Hierarchical Control Framework for Right-Turning Vehicle Merging Based on Cooperative Game


YANG Jingwena (杨静文), ZHANG Libina (张立彬), WANG Pinga (王 萍), YAO Junfengb∗ (姚俊峰), ZHAO Xiangmob (赵祥模)   

  1. (a. School of Electronic and Control Engineering; b. School of Information Engineering, Chang’an University, Xi’an 710064, China)
  2. (长安大学 a.电子与控制工程学院;b.长安大学 信息工程学院,西安 710064)
  • Received:2021-12-20 Online:2023-01-28 Published:2023-02-10

Abstract: With the development of connected and automated vehicles (CAVs), forming strategies could extend from the typically used first-come-first-served rules. It is necessary to consider passing priorities when crossing intersections to prevent conflicts. In this study, a hierarchical strategy based on a cooperative game was developed to improve safety and efficiency during right-turning merging. A right-turn merging conflict model was established to analyze the right-turning vehicle characteristics of the traffic flow. The proposed three-layered hierarchical strategy includes a decision-making layer, a task layer, and an operation layer. A decision-making-layer cooperative game strategy was used to determine the merging priority of straight-going traffic and right-turning flows. In addition, a task-layer cooperative game strategy was designed for the merging sequence. A modified consensus algorithm was utilized to optimize the speed of vehicles in the virtual platoon of the operation layer. Traffic simulations were performed on the PYTHON-SUMO integrated platform to verify the proposed strategy. The simulation results show that, compared with other methods, the proposed hierarchical strategy has the shortest travel time and loss time and performs better than other methods when the straight-going traffic flow increases during right-turning merging at the intersection. The proposed method shows superiority under a significant traffic flow with a threshold of 900 vehicle/(h · lane). This satisfactory application of right-turning merging might be extended to ramps, lane-changing, and other scenarios in the future.

Key words: cooperative game, right-turning merging, coordinated decision-making

摘要: 随着智能网联车辆技术的发展,合流策略大多数扩展于先到先得规则。在实际的交叉口通行过程中需要考虑通行优先级以避免发生冲突。本文提出了一种基于合作博弈的分层合流策略,提高了右转合流时的安全性和效率。首先建立右转并道冲突模型,分析交通流右转车辆特性。接着,提出包括决策层、任务层和操作层的三层分层策略,采用基于合作博弈策略在决策层确定直行车流和右转车流的合流优先级,在任务层确定合并序列,在操作层使用改进的一致性算法来优化有序队列中的车辆速度。最后在PYTHON-SUMO仿真平台上验证所提出的策略。结果表明,所提出的分层策略具有最短的旅行时间和损失时间,并且在直行交通流量增加时的表现优于其他方法。此外,所提出的方法在交通流量900 时效果最好。这种右转汇入策略的成功应用可以在未来扩展到匝道、换道和其他场景。

关键词: 合作博弈, 右转合流, 协同决策

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