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Title: Cooperative Game Approach to Optimal Merging Sequence and On-Ramp Merging Control of Connected and Automated Vehicles

Abstract

Vehicle merging is one of the main causes of reduced traffic efficiency, increased risk of collision, and fuel consumption. Connected and automated vehicles (CAVs) can improve traffic efficiency, increase safety, and reduce the negative environmental impacts through effective communication and control. Therefore, to improve the traffic efficiency and reduce the fuel consumption in on-ramp scenarios, this paper addresses the global and optimal coordination of the CAVs in a merging zone. In this work, a cooperative multi-player game-based optimization framework and an algorithm are presented to coordinate vehicles and achieve minimum values for the global pay-off conditions. Fuel consumption, passenger comfort, and travel time within the merging control zone were used as the pay-off conditions. After analyzing the characteristics of the merging control zone and selecting the appropriate control decision duration, multi-player games were decomposed into multiple two-player games. An optimal merging strategy was, thereby, derived from a pay-off matrix, and minimum payoffs were predicted for a number of different potential strategies. The optimal trajectory corresponding to the predicted minimum payoffs was then utilized as the control law to coordinate the vehicles merging. The proposed control scheme derives an optimal merging sequence and an optimal trajectory for each vehicle. The effectivenessmore » of the proposed model is validated through simulation. Finally, the proposed controller is compared with two alternative methods to demonstrate its potential to reduce fuel consumption and travel time and to improve passenger comfort and traffic efficiency.« less

Authors:
ORCiD logo [1];  [1];  [1]; ORCiD logo [2];  [3]
  1. Chang'an Univ., Xi'an (China)
  2. Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)
  3. Chang'an Univ., Xi'an (China); Univ. of Tennessee, Knoxville, TN (United States)
Publication Date:
Research Org.:
Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)
Sponsoring Org.:
USDOE
OSTI Identifier:
1550734
Grant/Contract Number:  
AC05-00OR22725
Resource Type:
Journal Article: Accepted Manuscript
Journal Name:
IEEE Transactions on Intelligent Transportation Systems
Additional Journal Information:
Journal Volume: 20; Journal Issue: 11; Journal ID: ISSN 1524-9050
Publisher:
IEEE
Country of Publication:
United States
Language:
English
Subject:
32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION; Connected and automated vehicle; cooperative game; optimal merging sequence; merging control; on-ramp

Citation Formats

Jing, Shoucai, Hui, Fei, Zhao, Xiangmo, Rios Torres, Jackeline, and Khattak, Asad J. Cooperative Game Approach to Optimal Merging Sequence and On-Ramp Merging Control of Connected and Automated Vehicles. United States: N. p., 2019. Web. doi:10.1109/TITS.2019.2925871.
Jing, Shoucai, Hui, Fei, Zhao, Xiangmo, Rios Torres, Jackeline, & Khattak, Asad J. Cooperative Game Approach to Optimal Merging Sequence and On-Ramp Merging Control of Connected and Automated Vehicles. United States. https://doi.org/10.1109/TITS.2019.2925871
Jing, Shoucai, Hui, Fei, Zhao, Xiangmo, Rios Torres, Jackeline, and Khattak, Asad J. 2019. "Cooperative Game Approach to Optimal Merging Sequence and On-Ramp Merging Control of Connected and Automated Vehicles". United States. https://doi.org/10.1109/TITS.2019.2925871. https://www.osti.gov/servlets/purl/1550734.
@article{osti_1550734,
title = {Cooperative Game Approach to Optimal Merging Sequence and On-Ramp Merging Control of Connected and Automated Vehicles},
author = {Jing, Shoucai and Hui, Fei and Zhao, Xiangmo and Rios Torres, Jackeline and Khattak, Asad J.},
abstractNote = {Vehicle merging is one of the main causes of reduced traffic efficiency, increased risk of collision, and fuel consumption. Connected and automated vehicles (CAVs) can improve traffic efficiency, increase safety, and reduce the negative environmental impacts through effective communication and control. Therefore, to improve the traffic efficiency and reduce the fuel consumption in on-ramp scenarios, this paper addresses the global and optimal coordination of the CAVs in a merging zone. In this work, a cooperative multi-player game-based optimization framework and an algorithm are presented to coordinate vehicles and achieve minimum values for the global pay-off conditions. Fuel consumption, passenger comfort, and travel time within the merging control zone were used as the pay-off conditions. After analyzing the characteristics of the merging control zone and selecting the appropriate control decision duration, multi-player games were decomposed into multiple two-player games. An optimal merging strategy was, thereby, derived from a pay-off matrix, and minimum payoffs were predicted for a number of different potential strategies. The optimal trajectory corresponding to the predicted minimum payoffs was then utilized as the control law to coordinate the vehicles merging. The proposed control scheme derives an optimal merging sequence and an optimal trajectory for each vehicle. The effectiveness of the proposed model is validated through simulation. Finally, the proposed controller is compared with two alternative methods to demonstrate its potential to reduce fuel consumption and travel time and to improve passenger comfort and traffic efficiency.},
doi = {10.1109/TITS.2019.2925871},
url = {https://www.osti.gov/biblio/1550734}, journal = {IEEE Transactions on Intelligent Transportation Systems},
issn = {1524-9050},
number = 11,
volume = 20,
place = {United States},
year = {Mon Jun 17 00:00:00 EDT 2019},
month = {Mon Jun 17 00:00:00 EDT 2019}
}

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