Joint Planning of Intersection Trajectories and OD Routes under the Competition of CAV Firms
Publication: Journal of Transportation Engineering, Part A: Systems
Volume 149, Issue 7
Abstract
Robotaxis have provided services to the public in some cities by different operators. There would exist connected and autonomous vehicles (CAVs) belonging to multiple firms on urban roads in the future. Each firm takes charge of its CAVs by giving the plan of origin-destination (OD) routes and intersection trajectories. It is essential to investigate firms’ interactions with each other and estimate their influence on the traffic system. The competition for limited road resources among CAV firms needs to be considered during their joint planning of intersection trajectories and OD routes. First, potential conflicts in the autonomous intersection are analyzed in detail. Next, a simulation framework is proposed to model the competition process of CAV firms. Third, two safety management strategies are designed for resolving conflicts among CAVs from different firms at intersections. Finally, some simulation experiments are accomplished in a road network with two firms. The results reveal that CAV firms’ right to vehicle route planning should not be abridged. The competition ensures the fairness of using road resources and results in only a 15% system efficiency loss in a specific strategy.
Get full access to this article
View all available purchase options and get full access to this article.
Data Availability Statement
Some or all data, models, or code that support the findings of this study are available from the corresponding author upon reasonable request.
Acknowledgments
This work was supported by NSFC (72288101) and the 111 Project (B20071).
References
Acharya, S., and M. Mekker. 2021. Public perception of the collection and use of connected vehicle data. Logan, UT: Utah State Univ.
Amini, E., A. Omidvar, and L. Elefteriadou. 2021. “Optimizing operations at freeway weaves with connected and automated vehicles.” Transp. Res. Part C: Emerging Technol. 126 (Jun): 103072. https://doi.org/10.1016/j.trc.2021.103072.
Carlino, D., S. D. Boyles, and P. Stone. 2013. “Auction-based autonomous intersection management.” In Proc., Int. IEEE Conf. Intelligent Transport System, 529–534. New York: IEEE.
Chandra, R., and D. Manocha. 2022. “GamePlan: Game-theoretic multi-agent planning with human drivers at intersections, roundabouts, and merging.” IEEE Rob. Autom. Lett. 7 (2): 2676–2683. https://doi.org/10.1109/LRA.2022.3144516.
Chen, M., J. C. Shih, and C. J. Tomlin. 2016. “Multi-vehicle collision avoidance via Hamilton-Jacobi reachability and mixed integer programming.” In Proc., IEEE 55th Conf. on Decision and Control, 1695–1700. New York: IEEE.
Chen, R. S., J. Hu, M. W. Levin, and D. Rey. 2020. “Stability-based analysis of autonomous intersection management with pedestrians.” Transp. Res. Part C: Emerging Technol. 114 (Jun): 463–483. https://doi.org/10.1016/j.trc.2020.01.016.
Dafermos, S. C., and F. T. Sparrow. 1969. “The traffic assignment problem for a general network.” J. Res. Natl. Bur. Stand. B 73 (2): 91–118. https://doi.org/10.6028/jres.073B.010.
Dresner, K., and P. Stone. 2004. “Multi-agent traffic management: A reservation-based intersection control mechanism.” In Vol. 3 of Proc., Int. Conf. Automation Agents Multiagent System, 530–537. New York: IEEE.
Glaser, S., B. Vanholme, S. Mammar, D. Gruyer, and L. Nouvelier. 2010. “Maneuver-based trajectory planning for highly autonomous vehicles on real road with traffic and driver interaction.” IEEE Trans. Intell. Transp. Syst. 11 (3): 589–606. https://doi.org/10.1109/TITS.2010.2046037.
Haurie, A., and P. Marcotte. 2010. “On the relationship between Nash—Cournot and Wardrop equilibria.” Networks 15 (3): 295–308. https://doi.org/10.1002/net.3230150303.
Jiang, Z., D. Yu, and H. Zhou. 2021. “A trajectory optimization strategy for connected and automated vehicles at junction of freeway and urban road.” Sustainability 13 (17): 9933. https://doi.org/10.3390/su13179933.
Lee, J., and B. Park. 2012. “Development and evaluation of a cooperative vehicle intersection control algorithm under the connected vehicles environment.” IEEE Trans. Intell. Transp. Syst. 13 (1): 81–90. https://doi.org/10.1109/TITS.2011.2178836.
Levin, M. W., and S. D. Boyles. 2016. “A multiclass cell transmission model for shared human and autonomous vehicle roads.” Transp. Res. Part C: Emerging Technol. 62 (Apr): 103–116. https://doi.org/10.1016/j.trc.2015.10.005.
Levin, M. W., S. D. Boyles, and R. Patel. 2016a. “Paradoxes of reservation-based intersection controls in traffic networks.” Transp. Res. Part A: Policy Pract. 90 (Aug): 14–25. https://doi.org/10.1016/j.tra.2016.05.013.
Levin, M. W., H. Fritz, and S. D. Boyles. 2016b. “On optimizing reservation-based intersection controls.” IEEE Trans. Intell. Transp. Syst. 18 (3): 505–515. https://doi.org/10.1109/TITS.2016.2574948.
Lin, D., and S. E. Jabari. 2021. “Pay for intersection priority: A free market mechanism for connected vehicles.” IEEE Trans. Intell. Transp. Syst. 26 (3): 5138–5149. https://doi.org/10.1109/TITS.2020.3048475.
Liniger, A., and J. Lygeros. 2019. “A noncooperative game approach to autonomous racing.” IEEE Trans. Control Syst. Technol. 28 (3): 884–897. https://doi.org/10.1109/TCST.2019.2895282.
Liu, H., X. D. Kan, S. E. Shladover, X. Y. Lu, and R. E. Ferlis. 2018. “Modeling impacts of cooperative adaptive cruise control on mixed traffic flow in multi-lane freeway facilities.” Transp. Res. Part C: Emerging Technol. 95 (27): 261–279. https://doi.org/10.1016/j.trc.2018.07.027.
Lu, G., Y. M. Nie, X. Liu, and D. Li. 2019. “Trajectory-based traffic management inside an autonomous vehicle zone.” Transp. Res. Part B: Methodol. 120 (Feb): 76–98. https://doi.org/10.1016/j.trb.2018.12.012.
Luo, Q., R. Saigal, Z. Chen, and Y. Yin. 2019. “Accelerating the adoption of automated vehicles by subsidies: A dynamic games approach.” Transp. Res. Part B: Methodol. 129 (Nov): 226–243. https://doi.org/10.1016/j.trb.2019.09.011.
Ma, M., and Z. Li. 2021. “A time-independent trajectory optimization approach for connected and autonomous vehicles under reservation-based intersection control.” Transp. Res. Interdiscip. Perspect. 9 (5): 100312. https://doi.org/10.1016/j.trip.2021.100312.
Malikopoulos, A. A., C. G. Cassandras, and Y. J. Zhang. 2018. “A decentralized energy-optimal control framework for connected automated vehicles at signal-free intersections.” Automatica 93 (Jul): 244–256. https://doi.org/10.1016/j.automatica.2018.03.056.
Nikolaidis, S., S. Nath, A. D. Procaccia, and S. Srinivasa. 2017. “Game-theoretic modeling of human adaptation in human-robot collaboration.” In Proc., ACM/IEEE Int. Conf. Human-Robot Interaction, 323–331. New York: Association for Computing Machinery.
Qiu, J., G. Wu, K. Boriboonsomsin, and M. J. Barth. 2016. “Power-based optimal longitudinal control for a connected eco-driving system.” IEEE Trans. Intell. Transp. Syst. 17 (10): 2900–2910. https://doi.org/10.1109/TITS.2016.2535439.
Rey, D., M. W. Levin, and V. V. Dixit. 2021. “Online incentive-compatible mechanisms for traffic intersection auctions.” Eur. J. Oper. Res. 293 (1): 229–247. https://doi.org/10.1016/j.ejor.2020.12.030.
Vasirani, M., and S. Ossowski. 2012. “A market-inspired approach to reservation-based urban road traffic management.” J. Artif. Intell. Res. 43 (6): 621–659. https://doi.org/10.1613/jair.3560.
Vidal, R., O. Shakernia, H. J. Kim, D. H. Shim, and S. Sastry. 2002. “Probabilistic pursuit-evasion games: Theory, implementation, and experimental evaluation.” IEEE Trans. Rob. Autom. 18 (5): 662–669. https://doi.org/10.1109/TRA.2002.804040.
Wang, G., H. Qi, H. Xu, and S. Ryu. 2020a. “A mixed behaviour equilibrium model with mode choice and its application to the endogenous demand of automated vehicles.” J. Manage. Sci. Eng. 5 (4): 27–248. https://doi.org/10.1016/j.jmse.2020.05.003.
Wang, Y., P. Cai, and G. Lu. 2020b. “Cooperative autonomous traffic organization method for connected automated vehicles in multi-intersection road networks.” Transp. Res. Part C: Emerging Technol. 111 (Dec): 458–476. https://doi.org/10.1016/j.trc.2019.12.018.
Wang, Z., R. Spica, and M. Schwager. 2019. “Game theoretic motion planning for multi-robot racing.” In Distributed autonomous robotic systems, 225–238. Berlin: Springer.
Wardrop, J. G. 1952. “Some theoretical aspects of road traffic research.” ICE Proc.: Eng. Div. 1 (3): 325–378. https://doi.org/10.1680/ipeds.1952.11362.
Wu, J., D. Li, S. Si, and Z. Gao. 2021. “Special issue: Reliability management of complex system.” Front. Eng. Manage. 8 (14): 477–479. https://doi.org/10.1007/s42524-021-0175-z.
Wu, W., Y. Liu, W. Hao, G. A. Giannopoulos, and Y. J. Byon. 2022. “Autonomous intersection management with pedestrians crossing.” Transp. Res. Part C: Emerging Technol. 135 (5): 103521. https://doi.org/10.1016/j.trc.2021.103521.
Yang, H., X. Zhang, and M. Qiang. 2007. “Stackelberg games and multiple equilibrium behaviors on networks.” Transp. Res. Part B: Methodol. 41 (8): 841–861. https://doi.org/10.1016/j.trb.2007.03.002.
Zeng, G., Z. Sun, S. Liu, X. Chen, D. Li, J. Wu, and Z. Gao. 2021. “Percolation-based health management of complex traffic systems.” Front. Eng. Manage. 8 (4): 557–571. https://doi.org/10.1007/s42524-021-0174-0.
Zhang, J., H. Pei, and X. J. Ban. 2022a. “Analysis of cooperative driving strategies at road network level with macroscopic fundamental diagram.” Transp. Res. Part C: Emerging Technol. 135 (Feb): 103503. https://doi.org/10.1016/j.trc.2021.103503.
Zhang, Y., G. Chen, and T. Zhang. 2021. “Intelligent intersection coordination and trajectory optimization for autonomous vehicles.” In Proc., IEEE Int. Conf. Automation System, 1–6. New York: IEEE.
Zhang, Y., P. Hang, and C. Huang. 2022b. “Human-like interactive behavior generation for autonomous vehicles: A Bayesian game-theoretic approach with turing test.” Adv. Intell. Syst. 4 (5): 2100211. https://doi.org/10.1002/aisy.202100211.
Zhang, Y., A. A. Malikopoulos, and C. G. Cassandras. 2017. “Decentralized optimal control for connected automated vehicles at intersections including left and right turns.” In Proc., IEEE 56th Conf. Decision Control, 4428–4433. New York: IEEE.
Zheng, F., C. Liu, X. Liu, S. E. Jabari, and L. Lu. 2020. “Analyzing the impact of automated vehicles on uncertainty and stability of the mixed traffic flow.” Transp. Res. Part C: Emerging Technol. 112 (May): 203–219. https://doi.org/10.1016/j.trc.2020.01.017.
Zhu, F., and S. V. Ukkusuri. 2015. “A linear programming formulation for autonomous intersection control within a dynamic traffic assignment and connected vehicle environment.” Transp. Res. Part C: Emerging Technol. 55 (8): 363–378. https://doi.org/10.1016/j.trc.2015.01.006.
Zhu, H. B., Y. J. Zhou, W. J. Wu, K. A. Dawson, J. O. Indekeu, H. E. Stanley, and C. Tsallis. 2020. “Modeling traffic flow mixed with automated vehicles considering drivers’ character difference.” Physica A 549 (Jul): 124337. https://doi.org/10.1016/j.physa.2020.124337.
Information & Authors
Information
Published In
Copyright
© 2023 American Society of Civil Engineers.
History
Received: Jun 10, 2022
Accepted: Feb 20, 2023
Published online: May 12, 2023
Published in print: Jul 1, 2023
Discussion open until: Oct 12, 2023
Authors
Metrics & Citations
Metrics
Citations
Download citation
If you have the appropriate software installed, you can download article citation data to the citation manager of your choice. Simply select your manager software from the list below and click Download.