Control of Vehicle Cooperative Behavior in Non-Signalized Intersection
This paper proposes a control method of vehicle cooperative behavior in an intersection and junction without infrastructures such as a signal system, a road-vehicle communication system, and so on. The vehicle cooperative behavior enables vehicles to pass through an intersection one by one or to interflow at junction one by one without vehicle collision like a weaving and zipping manner. These behaviors are achieved by generating a special-temporal pattern of a reaction-diffusion system, where a mutual communication between vehicles is realized only by IVC device. The mutual communication between vehicles can be expressed in the diffusion system of a certain morphogen so that only simple broadcasting communication could be enough for vehicle communication. Van der Pol model is used as one of the reaction-diffusion system. Finally, the proposed algorithm for vehicle cooperative behavior is experimentally verified using actual autonomous mobile robots.
KeywordsMobile Robot Periodical Pattern Autonomous Vehicle Global Order Automate Vehicle
Unable to display preview. Download preview PDF.
- 1.Markos Papageorgiou (Ed.), “Merging Control”, Cocise Encyclopedia of traffic and Transportation Systems, pages 257–263, 1991Google Scholar
- 2.Kosuke Sekiyama, Jun Nakanishi, Isao Takagawa, Toshimitsu Higashi and Toshio Fukuda, “Self-Organizing Control of Urban Traffic Signal Network ”, IEEE International Conference on Systems, Man and Cybernetics, pages 2481–2486, 2001Google Scholar
- 3.Masao Sugi, Hideo Yuasa and Tamio Arai, “Autonomous Distributed Control of Traffic Signal Network ”, Transaction of the Society of Instrument and Control Engineers, 39,1, pages 51–58, 2003, in JapanGoogle Scholar
- 4.Sasayuki Tsugawa, Shin Kato, Takeshi Matsui, Hiroshi Naganawa and Haruki Fuji, “An Architecture for Cooperative Driving of Automated Vehicles”, IEEE International Conference on Intelligent Transportation Systems, Dearborn, USA pages 422–427, 2000Google Scholar
- 5.Atsuya Uno, Takeshi Sakaguchi and Sadayuki Tsugawa, “ A Merging Control Algorithm based on Inter-Vehicle Communication”, IEEE International Conference on Intelligent Transportation Syatems, Tokyo, Japan, pages 783–787, 1999Google Scholar
- 6.Kimberly Sharman Evans, Cem Unsal, and John S. Bay, “ A Reactive Coordination Scheme for a Many-Robot System”, IEEE Transaction on Systems, Man and Cybernetics-Part B: Cybernetics, Vol. 27, No.4, August 1997Google Scholar
- 7.Steven H. Strogatz, “Nonlinear Dynamics and Chaos”. Westiview Press, ISBN 0-7382-0453-6, 1994Google Scholar