Design of Vehicle Profile for Autonomous Vehicles in Roundabouts used to improve Lane Change Strategy based on Multi-vehicle Collaboration

Intelligent and connected vehicles (ICVs) is developed based on Internet of Vehicles (IOV) and intelligent vehicles, has become an effective solution to optimize vehicle traffic and alleviate traffic congestion based on the collaborative strategy of vehicle - road - environment. This paper proposes a lane-changing strategy of vehicles at the exit of roundabout based on the Vehicle Profile(VP) which achieved by the driving characteristics of vehicles in traffic roundabout. Initially, Vehicle Profile(VP) is defined due to the hybrid problem of multi-source heterogeneous data existing in ICVs, then the multi-source heterogeneous data is represented by VP. Moreover, the random forest algorithm is used to dynamically obtain and update the label weight of Vehicle Profile because of the problem of label weight existing in the practical application. In addition, the dynamic weight of the Vehicle Profile is introduced into the design of the vehicle payoff function involved in lane change decision, which solves the problem that the weight of each part of the payoff function is used as a parameter. Finally, the performance of the algorithm is tested and verified by SUMO in roundabout general traffic conditions, congested traffic conditions and sparse traffic conditions. The experimental results show that this algorithm can improve the Efficiency and comfort of vehicle driving in general traffic environment more greatly compared with the situation of traffic congestion and sparse traffic flow. Meanwhile, this algorithm verifies the optimization effect of introducing Vehicle Profile on roundabout traffic strategy.

I. Introduction

The traffic roundabouts, as a traffic facility that can effectively solve the congestion, have been widely used in the urban system. However, the roundabouts are limited by the road capacity, as the traffic increases, the congestion has been exacerbated. Ensuring the efficiency and safety of vehicular traffic in roundabouts has become an important issue for the traffic system. Cai et al. added traffic lights to control the movement of vehicles in large roundabouts. Although it could optimize the problem, signal lights can also cause vehicles waiting and even congestion [1].