Formulating a cooperative autonomous vehicle group is challenging in an urban scene that has complex road networks and diverse disturbance. Existing methods of vehicle cluster cooperation in a vehicular ad-hoc network cannot be applied to autonomous vehicles because the latter have different requirements for a vehicle group structure and communication quality. Existing studies focus on autonomous vehicle group cooperation in closed and highway scenes only. Their outcomes cannot be directly applied to an urban scene because of its complex road conditions, incomplete cooperation properties, and lack of a vehicle group size control strategy. In this work, we formulate a cooperation model for autonomous vehicle groups in such scene. First, we analyze cooperation criteria based on the non-colliding aggregate motion of flocks and deduce the connectivity, coupling, timeliness, evolvability, and adaptivity of a vehicle group, based on which we propose a cooperation model. Next, we solve our model by using a modified distributed evolutionary multi-objective optimization method, prove its convergence, and analyze its computational complexity. Finally, we conduct simulations on synthetic and real roads to show its performance in terms of average connectivity, coupling, timeliness, evolvability, and adaptivity of vehicle groups.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    An Autonomous Vehicle Group Cooperation Model in an Urban Scene


    Beteiligte:
    Yuan, Guiyuan (Autor:in) / Cheng, Jiujun (Autor:in) / Zhou, MengChu (Autor:in) / Cheng, Sheng (Autor:in) / Gao, Shangce (Autor:in) / Jiang, Changjun (Autor:in) / Abusorrah, Abdullah (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    01.12.2023


    Format / Umfang :

    9594616 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Autonomous driving vehicle scene creation system

    ZOU GUANGYU / BACKUS BERNARDUS NICOLAAS RUDOLF / LOSH MICHAEL A et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    Implementing synthetic scene of autonomous vehicle

    HE-TANG CONGRUI / SHIN YOONHEE / ZHOU YAN et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    AUGMENTED SCENE FOR AUTONOMOUS VEHICLE TESTING

    XU SHAOBING / LI SHANGYI / YANG SHUOCHENG et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    Augmented scene for autonomous vehicle testing

    XU SHAOBING / LI SHANGYI / YANG SHUOCHENG et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    A systematic mapping for the scenario of non-urban autonomous vehicle cooperation systems

    Brito, Robison Cris / Loureiro, Jose Felippe / Todt, Eduardo et al. | IEEE | 2017