J Shanghai Jiaotong Univ Sci

Journal of Shanghai Jiaotong University(Science) >

2023 , Vol. 28 >Issue 1: 150 - 160

DOI: https://doi.org/10.1007/s12204-023-2577-z

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

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  • (a. School of Electronic and Control Engineering; b. School of Information Engineering, Chang’an University, Xi’an 710064, China)

Received date: 2021-12-20

  Online published: 2023-02-10

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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

Cite this article

YANG Jingwena (杨静文), ZHANG Libina (张立彬), WANG Pinga (王 萍), YAO Junfengb∗ (姚俊峰), ZHAO Xiangmob (赵祥模) . Straight-Going Priority in Hierarchical Control Framework for Right-Turning Vehicle Merging Based on Cooperative Game[J]. Journal of Shanghai Jiaotong University(Science), 2023 , 28(1) : 150 -160 . DOI: 10.1007/s12204-023-2577-z

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