Can the Presence of Autonomous Vehicles Worsen the Equilibrium State of Traffic Networks?
Can the Presence of Autonomous Vehicles Worsen the Equilibrium State of Traffic Networks?
复制标题
自动驾驶汽车的存在会恶化交通网络的平衡状态吗？
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
R. Horowitz
中科院分区：
文献类型：
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作者：
Negar Mehr;R. Horowitz
已知的是，当自动驾驶车辆形成车辆队列时，它们能够保持较短的车头时距和距离。因此，自动驾驶车辆的部署可以导致交通网络中的道路流量增加。因此，预计它们的部署将提高网络的整体能力。在本文中，我们考虑了一个非原子路由游戏的交通网络的非弹性（固定）需求的网络O/D对的集合，并研究如何取代一小部分的常规（即非自主）车辆的自动驾驶汽车将影响网络的总延迟，假设车辆自私地选择他们的路线。使用著名的美国公共道路局（BPR）的交通延迟模型，我们表明，由此产生的Wardrop均衡不一定是唯一的，即使在其弱意义上的网络与混合自治。我们得到的条件下，总的网络延迟是保证不会增加的自动驾驶汽车的比例增加的结果。然而，我们还表明，当这些条件不成立时，可能会发生违反直觉的行为：总延迟可以通过增加网络中自动驾驶汽车的比例来增加。特别地，我们证明了对于具有单个O/D对的网络，如果道路容量不对称度（即所有车辆都是规则车辆时的道路容量与所有车辆都是自主车辆时的道路容量之比）是齐次的，则总网络延迟是1）唯一的，并且2）网络自主分数的非增连续函数。我们发现，对于异质程度的能力不对称，总延迟是不唯一的，它可以进一步增长时，自动驾驶汽车的比例增加。我们证明了类似的行为可以观察到在网络中有多个O/D对。
It is known that autonomous vehicles are capable of maintaining shorter headways and distances when they form platoons of vehicles. Thus, deployment of autonomous vehicles can result in roadway flow capacity increases in traffic networks. Consequently, it is envisioned that their deployment will boost the overall capacity of the network. In this paper, we consider a nonatomic routing game on a traffic network with inelastic (fixed) demands for the set of network O/D pairs, and study how replacing a fraction of regular (i.e. nonautonomous) vehicles by autonomous vehicles will affect the network total delay, under the assumption that the vehicles choose their routes selfishly. Using well known US bureau of public roads (BPR) traffic delay models, we show that the resulting Wardrop equilibrium is not necessarily unique even in its weak sense for networks with mixed autonomy. We derive the conditions under which the total network delay is guaranteed to not increase as a result of increasing the ratio of autonomous vehicles. However, we also show that when these conditions do not hold, counter intuitive behaviors might occur: the total delay can grow by increasing the fraction of autonomous vehicles in the network. In particular, we prove that for networks with a single O/D pair, if the road degree of capacity asymmetry (i.e. the ratio between the road capacity when all vehicles are regular and the road capacity when all vehicles are autonomous) is homogeneous, the total network delay is 1) unique, and 2) a nonincreasing continuous function of network autonomy fraction. We show that for heterogeneous degrees of capacity asymmetry, the total delay is not unique, and it can further grow when the fraction of autonomous vehicles increases. We demonstrate that similar behaviors may be observed in networks with multiple O/D pairs.
DOI：
10.23919/acc.2018.8431087
发表时间：
2017-10
期刊：
2018 Annual American Control Conference (ACC)
影响因子：
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作者：
Daniel A. Lazar;S. Coogan;Ramtin Pedarsani
通讯作者：
Daniel A. Lazar;S. Coogan;Ramtin Pedarsani