Control of Vehicle Cooperative Behavior in Non-Signalized Intersection

  • Yusuke Ikemoto
  • Yasuhisa Hasegawa
  • Toshio Fukuda
  • Kazuhiko Matsuda
Conference paper


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.


Mobile Robot Periodical Pattern Autonomous Vehicle Global Order Automate Vehicle 


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Copyright information

© Springer 2007

Authors and Affiliations

  • Yusuke Ikemoto
    • 1
  • Yasuhisa Hasegawa
    • 2
  • Toshio Fukuda
    • 1
  • Kazuhiko Matsuda
    • 3
  1. 1.Dept. Micro System EngineeringNagoya UniversityJapan
  2. 2.Dept. of Mechanical and Systems EngineeringGifu UniversityJapan
  3. 3.Fuji Heavy Industries Ltd.Japan

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