基于多车协作优化的冲突消解模型

The traditional autonomous driving vehicles designed the conflict resolution algorithm based on the assumption of the right of way. However, the right of way was not clear in most cases of the mixed traffic of manual and autonomous driving, which will bring great trouble to the decision-making of autonomous vehicles. This paper proposed a conflict resolution optimization method for autonomous vehicles at intersections. The multi-objective optimal control theory was used to plan the speed for the conflicting vehicles, so as to achieve the purpose of cooperative driving. Finally, the simulation experiments of cooperative and non-cooperative conflict resolution were carried out. The results show that the conflict resolution of multi-vehicle cooperative driving can optimize the speed trajectory of vehicles to improve the overall driving efficiency, and the performance of various stakeholders is balanced relatively. Compared with non-cooperative conflict resolution, the time of conflict resolution is shortened, and the average delay per vehicle is reduced by 1~2 s at the intersection, and the average reduction is approximately 5%. The research results can provide a reference for an autonomous cooperative driving when the conflict occurred.