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.
A Collision-free Coordination Framework for Mixed-Vehicle Intersections
2021-09-01
2984297 byte
Conference paper
Electronic Resource
English
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