Dynamic game-based approach for optimizing merging vehicle trajectories using time-expanded decision diagram

Fukuyama, Sachiyo

doi:10.1016/j.trc.2020.102766

Cited by 36 publications

(12 citation statements)

References 31 publications

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“…Various methods of control of vehicles have been proposed for merging. Most of them are based on optimization techniques such as dynamic programming [3], game theory [4], and so forth. Recently, deep Reinforcement Learning (deep RL) has been attracting attention in various application fields.…”

Section: Methods Of Speed Control Of Inflow Vehiclementioning

confidence: 99%

Speed Control of Inflow Vehicles for Merging Support on Motorways with Limited I2V Communication

Kokubugata¹,

Kawashima²,

Fukui³

et al. 2024

Vehicular Networks - Principles, Enabling Technologies and Modern Applications

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Since merging is one of the most difficult situations for automated driving, merging support provided by infrastructure is extremely helpful for automated vehicles on motorways. However, in the early stages of automated vehicle penetration, infrastructure-side equipment to support merging is limited. In the first half of this chapter, a method to support speed control for inflow vehicles is proposed for the case where there is one detection device on the main lanes and one transmission/detection device for the vehicles in the inflow lane. In the second half, the case equipped with an additional detector and transmitter downstream on each lane is dealt with. New accurate information about the merging vehicles concerned could be given to the speed controller in the infrastructure. The control should be recalculated and sent to the inflow vehicle that has already started. Each control problem is formulated in the optimal control theory and calculated numerically by a nonlinear programming algorithm. The computational experiment is performed in each realistic situation.

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Section: Methods Of Speed Control Of Inflow Vehiclementioning

confidence: 99%

Speed Control of Inflow Vehicles for Merging Support on Motorways with Limited I2V Communication

Kokubugata¹,

Kawashima²,

Fukui³

et al. 2024

Vehicular Networks - Principles, Enabling Technologies and Modern Applications

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“…The evaluation of candidate trajectories considers the responsive motions of surrounding vehicles predicted by a probabilistic intelligent driver model (IDM). Fukuyama (2020) used a two-player dynamic game approach to interpret the interactions between a competing pair of vehicles. Under this approach, each vehicle made trajectory decisions to maximize its driving utility while considering the potential actions/responses of the competing vehicle.…”

Section: Merging Control For Single-lane Freeways With Connected and ...mentioning

confidence: 99%

Merging control strategies of connected and autonomous vehicles at freeway on-ramps: a comprehensive review

Zhu

Easa

Gao

2022

JICV

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Purpose On-ramp merging areas are typical bottlenecks in the freeway network since merging on-ramp vehicles may cause intensive disturbances on the mainline traffic flow and lead to various negative impacts on traffic efficiency and safety. The connected and autonomous vehicles (CAVs), with their capabilities of real-time communication and precise motion control, hold a great potential to facilitate ramp merging operation through enhanced coordination strategies. This paper aims to present a comprehensive review of the existing ramp merging strategies leveraging CAVs, focusing on the latest trends and developments in the research field. Design/methodology/approach The review comprehensively covers 44 papers recently published in leading transportation journals. Based on the application context, control strategies are categorized into three categories: merging into sing-lane freeways with total CAVs, merging into sing-lane freeways with mixed traffic flows and merging into multilane freeways. Findings Relevant literature is reviewed regarding the required technologies, control decision level, applied methods and impacts on traffic performance. More importantly, the authors identify the existing research gaps and provide insightful discussions on the potential and promising directions for future research based on the review, which facilitates further advancement in this research topic. Originality/value Many strategies based on the communication and automation capabilities of CAVs have been developed over the past decades, devoted to facilitating the merging/lane-changing maneuvers at freeway on-ramps. Despite the significant progress made, an up-to-date review covering these latest developments is missing to the authors’ best knowledge. This paper conducts a thorough review of the cooperation/coordination strategies that facilitate freeway on-ramp merging using CAVs, focusing on the latest developments in this field. Based on the review, the authors identify the existing research gaps in CAV ramp merging and discuss the potential and promising future research directions to address the gaps.

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“…In the works of Xu et al and Wang et al, they use the simple kinematic theory to derive a simple and closed-form solution for the trajectory planning problem [33,45]. Besides the kinematic theory, some works employ the car-following models to compute the vehicle's time-dependent accelerations and update the vehicles' speeds and locations [16,24,26,31,46]. Although these methods are simple and easily implemented, they can cause abrupt acceleration changes and reduce the passengers' ride comforts.…”

Section: Literature Review For Ramp Merging Strategymentioning

confidence: 99%

“…It should be noted that some of the recent studies have captured these problems and attempted to address these issues. For example, Zhou et al [47] and Fukuyama et al [46] remove the assumption of the fixed merging point and build the merging optimization model with a flexible merging point design. In such cases, they can optimize the merging point position and enhance the flexibility of the merging strategy.…”

Section: Literature Review For Ramp Merging Strategymentioning

confidence: 99%

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An integrated two‐dimensional merging trajectory optimization model for automated vehicles considering mixed traffic flow

Wei

Cao

et al. 2022

IET Intelligent Trans Sys

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Recently, automated vehicles have been recognized as a promising tool to address the problem of on‐ramp merging. However, the complexity of the problem includes ignorance of the vehicle's lateral dynamics, the limitation of the fixed merging point, the mismatch problem caused by the sequential optimization scheme, and the fixed terminal states assumption. These factors make it intractable in practical driving scenarios. This paper proposed an integrated optimization model for on‐ramp automated vehicles, which can guide the vehicle to complete the merging behaviour from the ramp lane to the main lane safely and efficiently. A merging path is first constructed in the two‐dimensional plane with two critical parameters recommended by a neural network predictor, enabling it to incorporate both longitudinal and lateral dynamics. Then, an integrated Mixed Integer Quadratic Program (MIQP) model is built to determine the optimal velocity profiles and merging gap simultaneously while considering the safety and efficiency factors. Specifically, with the introduction of discretization and linearization techniques, linear collision avoidance constraints and smooth transition constraints can be built, which can address the challenging computational problem. The effectiveness of the proposed model is validated through the microscopic and macroscopic numerical results under different levels of mixed traffic.

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Dynamic game-based approach for optimizing merging vehicle trajectories using time-expanded decision diagram

Cited by 36 publications

References 31 publications

Speed Control of Inflow Vehicles for Merging Support on Motorways with Limited I2V Communication

Speed Control of Inflow Vehicles for Merging Support on Motorways with Limited I2V Communication

Merging control strategies of connected and autonomous vehicles at freeway on-ramps: a comprehensive review

An integrated two‐dimensional merging trajectory optimization model for automated vehicles considering mixed traffic flow

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