Digital twin empowered cooperative trajectory planning of platoon vehicles for collision avoidance with unexpected obstacles  

作　　者：Hao Du Supeng Leng Jianhua He Kai Xiong Longyu Zhou 

机构地区：[1]School of Information&Communication Engineering,University of Electronic Science and Technology of China,Chengdu 611731,China [2]School of Computer Science and Electronic Engineering,University of Essex,Colchester CO43SQ,United Kingdom [3]Shenzhen Institute for Advanced Study,University of Electronic Science and Technology of China,Shenzhen 518110,China

出　　处：《Digital Communications and Networks》2024年第6期1666-1676,共11页数字通信与网络(英文版)

基　　金：partly supported by National Key R&D Program of China(No.2018YFE0117500);National Natural Science Foundation of China(No.62171104);EU Horizon2020(824019),EU Horizon2020(101022280);Horizon Europe(101086228);the UK EPSRC(EP/Y027787/1)。

摘　　要：Road obstacles that unexpectedly appear due to vehicle breakdowns and accidents are major causes of fatal road accidents.Connected Autonomous Vehicles(CAVs)can be used to avoid collisions to ensure road safety through cooperative sensing and driving.However,the collision avoidance performance of CAVs with unexpected obstacles has not been studied in the existing works.In this paper,we first design a platoon-based collision avoidance framework for CAVs.In this framework,we deploy a Digital Twin(DT)system at the head vehicle in a platoon to reduce communication overhead and decision-making delay based on a proposed trajectory planning scheme.In addition,a DT-assistant system is deployed on the assistant vehicle to monitor vehicles out of the sensing range of the head vehicle for the maintenance of the DT system.In this case,the transmission frequency of kinetic states of platoon members can be reduced to ensure low-overhead communication.Moreover,we design a variable resource reservation interval that can ensure DT synchronization between DT and the assistant system with high reliability.To further improve road safety,an urgency level-based trajectory planning algorithm is proposed to avoid unexpected obstacles considering different levels of emergency risks.Simulation results show that our DT system-based scheme can achieve significant performance gains in unexpected obstacle avoidance.Compared to the existing schemes,it can reduce collisions by 95%and is faster by about 10%passing by the unexpected obstacle.

关 键 词：Platoon driving Cooperative trajectory planning Digital twin Obstacle avoidance 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] U495[自动化与计算机技术—控制科学与工程] U463.6[交通运输工程—交通运输规划与管理]