Unified modeling and design of reservation-based cooperation mechanisms for intelligent vehicles

With Intelligent Transportation Systems (ITS) evolving to novel cooperative ITS (C-ITS), adaptive behavior cooperations of intelligent vehicles have been becoming one more and more prominent problem. Considering the cyber-physical cooperative characteristics of C-ITS, uniform cooperative mechanisms are modeled and designed for automated vehicles in this paper. After analyzing procedures of typical V2X-communication-based behaviors, such as passing through intersections, lane-changing, overtaking and so on, related traffic objects are modeled firstly, and then, all vehicular behaviors are uniformly abstracted into a “Reserve Advance, Act Later” (RAAL) procedure. Further, standard vehicular actions and states are extracted and also modeled uniformly, and any cooperative behavior can be presented as a sequence of states within an event-triggered state automata. On this basis, V2X-based centralized and decentralized cooperation mechanisms are put forward with the RAAL procedure, spatial-temporal distance transformation and cooperation policies. Finally, all these models and mechanisms are implemented within QoS-CITS simulator, with which experiments are carried out and the feasibility and validity of proposed methods are demonstrated.