Analysis and Modeled Design of One State-Driven Autonomous Passing-Through Algorithm for Driverless Vehicles at Intersections

Autonomous passing-through intersections has been becoming one important research problem in the domain of intelligent traffic, especially with the real emerging of driverless vehicles. After analyzing this problem and related work, some pivotal aspects, including the lane, path, critical section and vehicle, are modeled with considering relations among their physical and kinetic characters. Then, we abstract some basic actions of this passing procedure, and propose a universal state-based action model. With this model, the procedure will be equal to the switching between these actions and their states. Further, we propose a new centralized scheduling algorithm that is reservation-oriented, and can guarantee the higher request to be responded preferentially. Finally, this algorithm is simulated and the results show that it can promote the traffic efficiency, especially for vehicles with high priority.