Design of a Cooperative V2V Trajectory-Planning Algorithm for Vehicles Driven on a Winding Road with Consideration of Human Drivers' Characteristics

A vehicle-to-vehicle (V2V) cooperative trajectory-planning algorithm for connected vehicles driven on a winding road considering characteristics of human drivers is presented in this paper. The algorithm of cooperative game is introduced to plan collision-free trajectories for the involved encounter...

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Bibliographic Details
Published in:IEEE access 2019-01, Vol.7, p.1-1
Main Authors: Zhang, Kuoran, Wang, Jinxiang, Chen, Nan, Cao, Mingcong, Yin, Guodong
Format: Article
Language:English
Subjects:
Algorithms
Characteristics of human driver
Collision avoidance
Collision dynamics
Cooperative control
Drivers
Game theory
Model predictive control
Planning
Prediction algorithms
Predictive control
Roads
Roads & highways
Semi-autonomous vehicles
Tires
Trajectory
Trajectory planning
Vehicles
Winding
Winding road
Windings
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Summary:A vehicle-to-vehicle (V2V) cooperative trajectory-planning algorithm for connected vehicles driven on a winding road considering characteristics of human drivers is presented in this paper. The algorithm of cooperative game is introduced to plan collision-free trajectories for the involved encountering vehicles, with satisfaction of the safety requirements including vehicle stability and road-departure avoidance. The trajectory-planning algorithm is then converted to a Model Predictive Control (MPC) problem and solved with the concept of Pareto Optimality. The algorithm is compared with a V2V trajectory-planning algorithm with non-cooperative game. Simulations are conducted in the scenarios of lane-exchange on arc shaped roads with different radius to verify the proposed algorithm. Results show that the algorithm can accomplish the task of trajectory-planning on either winding road or straight road successfully, considering the driver's characteristics. The difference of collaboration tendency in V2V driving between using cooperative algorithm and non-cooperative algorithm is also studied and described.
ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2019.2941053