通信资源受限条件下交叉口互联车辆协同控制

Wanxing Xiao, Bo Yang
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引用次数: 0

摘要

自动化技术和车辆通信技术的发展,使交叉路口的车辆协同控制成为可能。在实践中,为了实现协调决策和协同行动,车辆之间通过无线网络进行信息交换,容易受到通信资源有限的影响。本文研究了有限通信资源下的车辆协调与通信资源感知问题。首先,针对这一问题,我们提出了一种分布式模型预测控制(DMPC)方法,该方法对每辆车具有优先级,可以减少由于通信延迟导致的预测一致性损失的影响。此外,该方法还构建了基于预测的触发机制,可以提前预测通信的使用情况,便于资源调度。最后,通过多车仿真验证了该方案在避免碰撞和停车死锁的同时节省通信的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Cooperative Control of Intersection Connected Vehicles under Constrained Communication Resource
The development of automation and vehicle communication has enabled the cooperative control of vehicles at an intersection. In practice, in order to realize coordinated decisions and cooperative actions, information exchange among vehicles via a wireless network is susceptible to be affected by limited communication resources. In this paper, we consider a vehicle coordination and communication resource-aware problem under limited communication resources. Firstly, to address this issue, we propose a distributed model predictive control (DMPC) method with priority for each vehicle, which will reduce the impact of prediction consistency loss caused by communication delay. In addition, a prediction-based trigger mechanism is constructed for the proposed DMPC method, which predicts the usage of communication in advance and facilitates resource scheduling. Finally, we evaluated our scheme by the simulation of multi-vehicles, which demonstrates the effectiveness of communication saving while avoiding collisions and stop-deadlock.
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