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Multi-Vehicle Trajectory Planning at V2I-enabled Intersections based on Correlated Equilibrium by Wang, Wenyuan; Yi, Peng; Hong, Yiguang is a scholarly article available to read on EtoBox.

What is Multi-Vehicle Trajectory Planning at V2I-enabled Intersections based on Correlated Equilibrium about?

Generating trajectories that ensure both vehicle safety and improve traffic efficiency remains a challenging task at intersections. Many existing works utilize Nash equilibrium (NE) for the trajectory planning at intersections. However, NE-based planning can hardly guarantee that all vehicles are in the same equilibrium, leading to a risk of collision. In this work, we propose a framework for trajectory planning based on Correlated Equilibrium (CE) when V2I communication is also enabled. The recommendation with CE allows all vehicles to reach a safe and consensual equilibrium and meanwhile keeps the rationality as NE-based methods that no vehicle has the incentive to deviate. The Intersection Manager (IM) first collects the trajectory library and the personal preference probabilities over the library from each vehicle in a low-resolution spatial-temporal grid map. Then, the IM optimizes the recommendation probability distribution for each vehicle's trajectory by minimizing overall collision probability under the CE constraint. Finally, each vehicle samples a trajectory of the low-resolution map to construct a safety corridor and derive a smooth trajectory with a local refinement op

Author

Wang, Wenyuan; Yi, Peng; Hong, Yiguang

Published

2024

Language

EN