Service-Oriented Cooperation Policies for Intelligent Ground Vehicles Approaching Intersections

Abstract

With the coming of intelligent vehicles and vehicular communication, Intelligent Transportation Systems (ITS) of connected vehicles are emerging and now evolving to Cooperative-ITS (C-ITS), as service platforms for smart cities. Considering new service properties, the autonomous cooperation of such vehicles has exhibited novel QoS features that imply new requirements: guaranteeing the traffic efficiency of any emergent vehicle while trying to promote the throughput at an intersection. So, after analyzing the classic reservation-based cooperation mechanisms, new QoS-oriented cooperation methods and policies are studied in this work. Concretely, several models of related traffic objects we have proposed are firstly introduced briefly. Then, the scheduling policies of vehicles approaching an intersection have been presented, including three existing policies (FAFP-SV, FAFP-SQ, and HQEP-SV) and five new polices (FAFP-SQ-SV, FAFP-MQ, HWFP-SQ, HWFP-SQ-SV, HWFP-MQ). These policies combine two major factors: vehicular priority for scheduling and concurrency in traffics. The first one includes the vehicular arrival-time, priority mapped to QoS, and the weight of reserved vehicles on a lane etc. In addition, the second refers to schedule a platoon rather than single vehicle each time, or platoons on different lanes instead of one platoon on only one lane. All these policies have been implemented, and further, verified within the parameter-configurable traffic simulator QoS-CITS (v2.1) we designed and developed with C#. Abundant experiments have been conducted with configured typical traffic scenes, and experimental results show that HWFP-SQ-SV and HWFP-MQ can guarantee both the QoS of emergent vehicles and traffic throughput better than other six policies.