JRM Vol.36 No.3 pp. 628-641
doi: 10.20965/jrm.2024.p0628


Automatic Route Design by Stepwise Subdivision of Virtual Walls —Reduces Route Length and Speeds Up Execution Time—

Yuki Itoh*, Junya Hoshino*, Tenta Suzuki*, Kenji Matsuda*, Kaito Kumagae*, Mao Tobisawa*, Tomohiro Harada** ORCID Icon, Jyouhei Matsuoka* ORCID Icon, Toshinori Kagawa***, and Kiyohiko Hattori* ORCID Icon

*Tokyo University of Technology
1404-1 Katakuramachi, Hachioji, Tokyo 192-0982, Japan

**Saitama University
255 Shimo-Okubo, Sakura-ku, Saitama, Saitama 338-8570, Japan

***Central Research Institute of Electric Power Industry
2-6-1 Nagasaka, Yokosuka, Kanagawa 240-0196, Japan

November 28, 2023
May 1, 2024
June 20, 2024
virtual wall, multi-agent system, autonomous driving, vehicle-to-vehicle communication, genetic algorithm

With the development of autonomous driving technology utilizing machine learning, AI, and sensors, research on autonomous driving control has become more active, and a large number of innovative studies are underway. In the near future, all autonomous vehicle fleets will be able to communicate with each other for sharing information and overall optimal traffic control will be achieved. One of the vehicle control systems that are based on the premise of such a fully automated society is the “signal-less intersection.” There is an intersection traffic control method that achieves safe and rational route selection by using virtual walls (VWs), which are virtual obstacles, but there are issues in terms of total route length and reduction of computation time. To address the issues, we propose a method that (1) prunes unneeded paths and (2) arranges VWs in a stepwise manner. The effectiveness of the proposed method was evaluated by simulation, and the results showed that the total route length and execution time were reduced.

Example of traffic control in a two-steps VW

Example of traffic control in a two-steps VW

Cite this article as:
Y. Itoh, J. Hoshino, T. Suzuki, K. Matsuda, K. Kumagae, M. Tobisawa, T. Harada, J. Matsuoka, T. Kagawa, and K. Hattori, “Automatic Route Design by Stepwise Subdivision of Virtual Walls —Reduces Route Length and Speeds Up Execution Time—,” J. Robot. Mechatron., Vol.36 No.3, pp. 628-641, 2024.
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Last updated on Jul. 12, 2024