论文标题
连接车辆的分布式行为计划中下游事件的非本地回避超车
Non-local Evasive Overtaking of Downstream Incidents in Distributed Behavior Planning of Connected Vehicles
论文作者
论文摘要
高速车辆到全能（V2X）通信的盛行可能会显着影响车辆自主权的未来。但是，在几种自动驾驶应用中，很少了解这种系统将扮演的角色。在本文中，我们探讨了在下游瓶颈限制了几条车道的流动性的情况下，探索通信信号在增强车道变更辅助系统性能方面的作用。在对车道变更激励措施进行建模的先前工作的基础上，我们设计了一个控制器，1）鼓励自动化的车辆颠覆可能发生遥远下游延误的车道，而2）忽略贪婪的当地激励措施，需要当需要这种延误时维持特定的路线。对不同交通状况和穿透率的数值结果表明，该模型成功地颠覆了全球和从受控车辆的角度，下游瓶颈带来的很大一部分延迟。
The prevalence of high-speed vehicle-to-everything (V2X) communication will likely significantly influence the future of vehicle autonomy. In several autonomous driving applications, however, the role such systems will play is seldom understood. In this paper, we explore the role of communication signals in enhancing the performance of lane change assistance systems in situations where downstream bottlenecks restrict the mobility of a few lanes. Building off of prior work on modeling lane change incentives, we design a controller that 1) encourages automated vehicles to subvert lanes in which distant downstream delays are likely to occur, while also 2) ignoring greedy local incentives when such delays are needed to maintain a specific route. Numerical results on different traffic conditions and penetration rates suggest that the model successfully subverts a significant portion of delays brought about by downstream bottlenecks, both globally and from the perspective of the controlled vehicles.
