Conflict resolution for connected automated vehicles at unsignalized roundabouts considering personalized driving behaviours  

作　　者：Peng Hang Yiran Zhang Niels de Boer Chen Lv 

机构地区：[1]School of Mechanical and Aerospace Engineering,Nanyang Technological University,Singapore [2]Energy Research Institute(ERIAN),Nanyang Technological University,Singapore

出　　处：《Green Energy and Intelligent Transportation》2022年第1期26-36,共11页新能源与智能载运（英文）

基　　金：A*STAR,Singapore,under Grant SERC 1922500046 and Grant A2084c0156;the SUG-NAP,Nanyang Technological University,under Grant M4082268.050.

摘　　要：To address the driving conflicts of connected automated vehicles(CAVs)at unsignalized roundabouts,a cooperative decision-making framework is proposed.The personalized driving preferences of CAVs are considered in the decision-making algorithm,which are reflected by different driving styles.A motion prediction algorithm is used to improve the decision-making performance.The effect of the motion prediction algorithm on the decisionmaking performance is evaluated,including the advancement of driving safety and the computational load for the hardware.The cooperative game theoretic approach is applied to the interaction modelling and collaborative decision making of CAVs.Finally,hardware-in-the-loop(HIL)tests are carried out to evaluate the feasibility and real-time performance of the proposed algorithm.

关 键 词：Decision making Connected automated vehicles Conflict resolution Cooperative game theory Unsignalized roundabout 

分 类 号：U471.3[机械工程—车辆工程]