Service-Oriented Cooperation Models And Mechanisms For Driverless Vehicles At Continuous Static Critical Sections

As the Intelligent Transportation System(ITS)will be an important part of the future smart city,various intelligent vehicles are expected to be the mobile carrier of intelligent social service.Based on the continuous development of environment sensing,automation,communications networks and other related technologies,autonomous driving technology which is characterized by intelligence has received extensive attention.Driverless vehicles have become more mature and come into people’s real life.While ITS is making movements to cooperative ITS(C-ITS),service-oriented cooperation models and mechanisms for driverless vehicles have became a research hotspot in C-ITS.Supported by National Natural Science Foundation of China and the Fundamental Research Funds for the Central Universities,this paper mainly studies the selfdetermined cooperation between heterogeneous driverless vehicles at multiple-lane intersections with a combination of model abstraction,mechanism study,strategy design and computer simulation.After analyzing the characteristic and process of the cooperation between multiple driverless vehicles,we first use the cyber-physical way to study in a temporal-spatial-service field and then establish models for all traffic objects,including the model for intersections and critical sections,the model with position restriction and speed restriction for lanes,and the physical model,the dynamic model,the service properties model,the unified motion mode and state mode for four-wheel driverless vehicle.Then a conversion model to transform the temporal distance about car-to-car and car-to-critical sections into spatial distance based on the analysis of conflict of driverless vehicles.Besides,A further global deferred computation model is also given to prejudge a traffic jam.Based on the above,after studying the reservation-based scheduling procedure at continous critical sections,a scheduling algorithm based on arrival time and a modified dynamic priority-based scheduling algorithm are given.At last,we develop a traffic simulation software with customizable parameters named QoS-CITS v2.0,in which all designed models,mechanisms,and algorithms in this paper are implemented.A typical set of experiments are also designed to evaluate the essential correctness of those models and the effectiveness of the algorithms in the software.The results of experiments under different environments show that the proposed models and mechanisms are effective to depict ITS and the designed scheduling algorithm can improve passing efficiency for vehicles with high priority three to six times while for vehicles with middle priority one to four times.Meanwhile,the effect of traffic parameters on these mechanisms is also studied and summarized through experiments,which provides quantitative basis for the research on self-adaptation traffic flows scheduling and adaptive optimization of transportation.