COOR-PLT: A hierarchical control model for coordinating adaptive platoons of connected and autonomous vehicles at signal-free intersections based on deep reinforcement learning
Platooning and coordination are two implementation strategies that are frequently proposed for traffic control of connected and autonomous vehicles (CAVs) at signal-free intersections instead of using conventional traffic signals. However, few studies have attempted to integrate both strategies to better facilitate the CAV control at signal-free intersections. To this end, this study proposes a hierarchical control model, named COOR-PLT, to coordinate adaptive CAV platoons at a signal-free intersection based on deep reinforcement learning (DRL). COOR-PLT has a two-layer framework. The first layer uses a centralized control strategy to form adaptive platoons. The optimal size of each platoon is determined by considering multiple objectives (i.e., efficiency, fairness and energy saving). The second layer employs a decentralized control strategy to coordinate multiple platoons passing through the intersection. Each platoon is labeled with coordinated status or independent status, upon which its passing priority is determined. As an efficient DRL algorithm, Deep Q-network (DQN) is adopted to determine platoon sizes and passing priorities respectively in the two layers. The model is validated and examined on the simulator Simulation of Urban Mobility (SUMO). The simulation results demonstrate that the model is able to: (1) achieve satisfactory convergence performances; (2) adaptively determine platoon size in response to varying traffic conditions; and (3) completely avoid deadlocks at the intersection. By comparison with other control methods, the model manifests its superiority of adopting adaptive platooning and DRL-based coordination strategies. Also, the model outperforms several state-of-the-art methods on reducing travel time and fuel consumption in different traffic conditions.
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- Record URL:
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Availability:
- Find a library where document is available. Order URL: http://worldcat.org/issn/0968090X
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Supplemental Notes:
- © 2022 The Author(s). Published by Elsevier Ltd. Abstract reprinted with permission of Elsevier.
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Authors:
- Li, Duowei
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0000-0002-1940-2435
- Zhu, Feng
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0000-0002-9814-6053
- Chen, Tianyi
- Wong, Yiik Diew
- Zhu, Chunli
- Wu, Jianping
- Publication Date: 2023-1
Language
- English
Media Info
- Media Type: Web
- Features: Figures; References; Tables;
- Pagination: 103933
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Serial:
- Transportation Research Part C: Emerging Technologies
- Volume: 146
- Issue Number: 0
- Publisher: Elsevier
- ISSN: 0968-090X
- Serial URL: http://www.sciencedirect.com/science/journal/0968090X
Subject/Index Terms
- TRT Terms: Adaptive control; Autonomous vehicles; Connected vehicles; Highway traffic control; Machine learning; Traffic platooning; Unsignalized intersections
- Subject Areas: Highways; Operations and Traffic Management; Vehicles and Equipment;
Filing Info
- Accession Number: 01870190
- Record Type: Publication
- Files: TRIS
- Created Date: Jan 19 2023 3:45PM