Abstract
This paper presents a decentralised mechanism for traffic control of connected autonomous vehicles in settings where multiple road intersections have to be managed and optimised. We propose a solution based on the distributed constraint optimisation approach (DCOP). We build upon state of the art algorithm for single-intersection management in order to manage congestion both across and within intersections. Furthermore, to solve the DCOP, we propose an improved node ordering policy for the Max-sum_AD_VP algorithm. Empirical evaluation of our model and algorithm demonstrate that our approach outperforms existing benchmarks by up to 32% in terms of average delay for both single and multiple intersection setup.
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Notes
- 1.
This solution aims to work for settings with a large number of CAVs. In transitional periods where non-autonomous vehicles are presented, this constraint can be extended by adding a time lapse between the two vehicles to keep a safe distance.
- 2.
The number of variables can be different. In this paper, we assume only one variable per agent.
- 3.
In our experiments the algorithm stops when convergence is achieved or when the timeout is reached.
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Vu, H., Aknine, S., Ramchurn, S., Farinelli, A. (2020). Decentralised Multi-intersection Congestion Control for Connected Autonomous Vehicles. In: Bassiliades, N., Chalkiadakis, G., de Jonge, D. (eds) Multi-Agent Systems and Agreement Technologies. EUMAS AT 2020 2020. Lecture Notes in Computer Science(), vol 12520. Springer, Cham. https://doi.org/10.1007/978-3-030-66412-1_3
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