Zipping, weaving: control of vehicle group behavior in non-signalized intersection

This paper proposes a control method of vehicle cooperative behavior in an intersection and junction without infrastructures such as a signal system, a road-vehicle communication system, and so on. The vehicle cooperative behavior enables vehicles to pass through an intersection one by one or to interflow at junction one by one without vehicle collision like a weaving and zipping manner. These behaviors are achieved by generating a special-temporal pattern of a reaction diffusion system, where a mutual communication between vehicles is realized only by TVC device. The mutual communication between vehicles can be expressed in the diffusion system of a certain morphogen so that only simple broadcasting communication could be enough for vehicle communication. Van der Pol model is used as one of the reaction diffusion system. Finally, the proposed algorithm for vehicle cooperative behavior is experimentally verified using actual autonomous mobile robots.