Cooperative Driving at Unsignalized Intersections Using Tree Search

Abstract

In this paper, we propose a new cooperative driving strategy for connected and automated vehicles (CAVs) at unsignalized intersections. Based on the tree representation of the solution space for the passing order, we combine Monte Carlo tree search (MCTS) and some heuristic rules to find a nearly global-optimal passing order (leaf node) within a very short planning time. Testing results show that this new strategy can keep a good tradeoff between performance and computation flexibility.Index Terms-Connected and Automated Vehicles (CAVs), cooperative driving, unsignalized intersection, Monte Carlo tree search (MCTS).

Penetration effect of connected and automated vehicles on cooperative on‐ramp merging

“…Future works should investigate the scenario of mainline with multiple lanes, where both cooperative lane‐changing and cooperative merging should be taken into consideration. Furthermore, some computational intelligence assisted design approaches [30] combined with some heuristic rules [31] should also be investigated.…”

A priority tree based coordination method for intelligent and connected vehicles at unsignalized intersections

“…In [12,13], Qian et al used the priority-based method to separate the problem into a priority assignment problem and a vehicle control problem under fixed priorities to ensure good properties like safety (collision-free trajectories, brake-safe control). In [14], Xu et al considered the problem as a tree search problem and used Monte Carlo Tree Search (MCTS) and heuristic rules to generate a nearly optimal solution. In [15], Liu et al used a tile-based reservation method to plan the entering time and velocity considering the different priorities of each vehicle, and the vehicles can pass the intersection area with a minimal delay following the planned collision-free trajectory.…”

“…used the priority‐based method to separate the problem into a priority assignment problem and a vehicle control problem under fixed priorities to ensure good properties like safety (collision‐free trajectories, brake‐safe control). In [14], Xu et al. considered the problem as a tree search problem and used Monte Carlo Tree Search (MCTS) and heuristic rules to generate a nearly optimal solution.…”

A negotiation‐based right‐of‐way assignment strategy to ensure traffic safety and efficiency in lane changes

“…Obviously, if every vehicle is connected and autonomous (CAV), we can utilize explicit communication techniques (e.g. V2V) [26,27] to arrange their right-ofway effortlessly. Of course, the necessary condition for explicit communication is a sufficiently high density of homogeneous (or compatible) active communication devices.…”