Method Of Autonomous Vehicles Scheduling On General Conflict Areas Considering Right-of-Way Priority

Since general conflict areas,such as intersections,merging ramps and work zones,are the frequent sites of traffic congestion and accidents,the improvement of traffic organization and management of vehicles at general conflict areas is of great significance to increase the road capacity and reduce the traffic accident occurrence rate.The continuous development of autonomous driving technology provides new ideas to solve the problem of conflict areas,and vehicle scheduling at a conflict area under autonomous driving environment has gradually become a hot topic in the academic field.However,most of the current studies are built on a strong assumption that there is no difference between vehicles,and less consideration is given to the impact of right-of-way differences on vehicle scheduling under actual scenarios.Thus,considering the heterogeneity of vehicles,passengers and roadways,this paper summarizes the relevant theory and discusses the expression method of right-of-way,tries to incorporate the concept of right-of-way priority into the scheduling strategy,and formulates a reasonable and effective vehicle scheduling scheme by establishing a mathematical optimization model.Firstly,the research status of relevant technologies of autonomous driving and scheduling and priority of passing conflict areas for vehicles under autonomous driving environment at home and abroad are summarized.After deeply analyzing scheduling of passing conflict areas for vehicles under autonomous driving environment,the application prospects of right-of-way at general conflict areas under autonomous driving environment are forecasted.Secondly,this paper proposes the overall design framework of intelligent vehicle infrastructure cooperative system at conflict areas,and a joint vehicle scheduling strategy based on speed and stop-and-go guidance is proposed.The focus of this paper is on the stop-and-go scheduling strategy when vehicles enter the control zone.Value of travel time and priority-based weight of road are introduced to indirectly express the difference of the right of each vehicle.This paper improves the objective function and constraints of the traditional vehicle scheduling model by considering the heterogeneity of vehicles,passengers and roadways.A vehicle scheduling model at a conflict area is then constructed,which minimizes the total weighted delay cost of vehicles.To improve the efficiency and accuracy of the model solution,two exact algorithms and two approximation algorithms are designed respectively by using the different optimization ideas of relaxation algorithm,multi-objective programming,dynamic programming and meta-heuristic algorithm.Finally,the test platform is built by using MATLAB development environment and Gurobi optimization solver.The model validation and algorithm performance analysis are carried out through different conflict area scenarios generated by the platform.The results show that the model can model different types of conflict areas,and the scheduling scheme can ensure that all vehicles pass the conflict area as soon as possible while the delay of priority vehicles is obviously improved compared with the result of the traditional model,which reflects the idea of right-of-way priority.Four algorithms also improve the computational efficiency and accuracy of the model to varying degree under different conflict area scenarios.Suggestions for selecting appropriate algorithms under different conflict area scenarios are given,which can provide reference for the management and control decision-making of vehicles at conflict areas under autonomous driving environment.