Proper coordination systems for autonomous vehicles (AVs) in complex road structures such as road intersections are of great importance. However, considering the fact that not only AVs but also human-driven vehicles (HVs) are involved at intersections, existing coordination strategies are limited in reliability and flexibility. In order to guarantee the vehicle safety in the mixed vehicle intersections, we propose a double-level coordination framework. In the centralized node, a high-level planner based on appropriate space-time resource allocation is used to provide feasible tunnels to AVs, to achieve high traffic throughput. Furthermore, on each AV, a low-level planner replans a collision-free practical trajectory to avoid HVs. Sensing, localization and control uncertainties are all considered in the framework to give a proper replanning interval in low-level planner, for improving the robustness of the system. Numerical results are provided and validate our analysis.


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    Title :

    A Collision-free Coordination Framework for Mixed-Vehicle Intersections


    Contributors:
    Zhang, Yixiao (author) / Hao, Rui (author) / Gao, Bo (author) / Xie, Zepeng (author) / Liu, Ming (author) / Zhang, Tingting (author)


    Publication date :

    2021-09-01


    Size :

    2984297 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




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