Abstract
Roundabout intersections promote a continuous flow of traffic. Roundabouts entry move traffic through an intersection more quickly, and with less congestion on approaching roads. With the introduction of smart vehicles and cooperative decision-making, roundabout management shortens the waiting time and leads to a more efficient traffic without breaking the traffic laws and earning penalties. This paper proposes a novel approach of cooperative behavior strategy in conflict situations between the autonomous vehicles in roundabout using game theory. The game theory presents a strategic decision-making technique between independent agents - players. Each individual player tends to achieve best payoff, by analyzing possible actions of other players and their influence on game outcome. The Prisoner's Dilemma game strategy is selected as approach to autonomous vehicle-to-vehicle (V2V) decision making at roundabout test-bed, because the commonly known traffic laws dictate certain rules of vehicle's behavior at roundabout. It is shown that, by integrating non-zero-sum game theory in autonomous vehicle-to-vehicle (V2V) decision making capabilities, the roundabout entry problem can be solved efficiently with shortened waiting times for individual autonomous vehicles.
Highlights
Roundabout intersections have recently become very popular, since they reduce the number of conflict points, which are characteristic for classic intersections, reduce driving speeds and increase driver attention [1]
Game Strategy in autonomous V2V Decision making Based on the "Prisoner's dilemma" and the predefined www.ijacsa.thesai.org algorithm, we can create a table that shows the waiting time for the autonomous vehicles R1 and R2 according to the situation in which they find themselves within the roundabout
The modified Parallax Boe-Bot mobile robots are used as autonomous vehicles, and used for demonstration scenarios in roundabout
Summary
Roundabout intersections have recently become very popular, since they reduce the number of conflict points, which are characteristic for classic intersections, reduce driving speeds and increase driver attention [1]. The various different vehicle communication types – combinations of cooperative and noncooperative vehicles as well as possibility of faulty or missing infrastructure controller were examined It is found in [12] that by applying game theory in VANETs and fuzzy logic control for simulation, minimizing traffic congestion and reduced wait time can be achieved quite well. We propose a novel approach of cooperative behavior strategy in conflict situations between the two robot vehicles in a roundabout model, based on game theory. This www.ijacsa.thesai.org (IJACSA) International Journal of Advanced Computer Science and Applications, Vol 7, No 8, 2016 autonomous vehicle-to-vehicle (V2V) decision making framework was implemented as cyber-physical system, through wireless connected mobile robot platforms, in order to demonstrate real-life situations in a roundabout.
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