A MAS-Based Hierarchical Architecture for the Cooperation Control of Connected and Automated Vehicles

Abstract

Complex traffic scenarios pose a challenge to the cooperation control of connected and automated vehicles (CAVs). Conventional platoon control or advanced driver-assistance systems only provide an isolated solution due to their inadequacies in systematic perspective. To this end, a multi-agent system (MAS) based distributed control architecture together with a hierarchical controller is proposed for the CAVs cooperation control system. The upper layer considers the potential states of a CAV in the platoon evolution (i.e., vehicle-cruising maneuver and vehicle-following maneuver) and elaborates the transition rules for discrete maneuvering behaviors. The lower layer includes the corresponding motion controller for each CAV. Artificial potential field (APF) combined with the distributed model predictive control algorithm is adopted to realize the integrated longitudinal, lateral and yaw motion control of CAVs. Next, inspired by the Pareto-optimal method for tackling the MAS-cooperation system, an optimal solution strategy is introduced to solve the CAVs cooperation problem from the viewpoint of the control theory. Furthermore, multi-constraints are designed to ensure a safety inter-vehicle spacing between CAVs, while the vehicle stability can also be guaranteed. The simulation results demonstrate that the MAS-based hierarchical control architecture can effectively handle the cooperation control of CAVs in the typical traffic scenarios. The real-time implementation of the proposed controller also proves the feasibility.