An Aggregation Degree-Based Cooperative Model for Autonomous Vehicle Groups in a Closing Scene

Abstract

Maintaining stable and orderly intelligent autonomous driving behavior in a closing scene is an important challenge. Compared with traditional chaos caused by an individual autonomous vehicle based on central control when it is broken down, an intelligent cooperative autonomous driving group may effectively avoid or alleviate it. There is no method to formulate an autonomous vehicle group and analyze its cooperative behavior by taking the aggregation, leading node change rate, and algorithm complexity of a vehicle group into account. This work formulates an aggregation degree-based Cooperative Model for Autonomous Vehicle Groups in a closing scene (CMAVG). First, we construct multi-roles and hierarchical autonomous vehicle groups. Then, we analyze their evolution behavior and present a dynamic evolution method based on it. Finally, we formulate CMAVG and give its solving method. The simulation results demonstrate that CMAVG can form a more stable and efficient vehicle group, which can realize stable and orderly intelligent driving behavior in an autonomous vehicle group and among autonomous vehicle groups.