Crossroads: Time-Sensitive Autonomous Intersection Management Technique
Crossroads: Time-Sensitive Autonomous Intersection Management Technique
复制标题
十字路口：时间敏感的自主交叉口管理技术
DOI：
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发表时间：
2017
期刊：
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通讯作者：
Aviral Shrivastava
中科院分区：
文献类型：
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作者：
E. Andert;M. Khayatian;Aviral Shrivastava
对于自动驾驶车辆，为了安全高效地运行，将需要智能的自主交叉路口管理。为了在车辆行驶轨迹存在不确定性的情况下实现安全运行，交叉路口管理技术必须考虑车辆周围的安全缓冲区。为了实现真正的安全运行，应该增加一个额外的缓冲空间，以考虑与交叉路口管理器（IM）通信所导致的网络和计算延迟。然而，将最坏情况下的计算和网络延迟建模为车辆周围的额外缓冲区会降低交叉路口的通行能力。为了避免这个问题，AIM[1]，一种流行的最先进的交叉路口管理器，采用了一种基于查询的方法，即车辆根据其当前速度和到交叉路口的距离请求在某个到达时间进入，交叉路口管理器回复是/否。尽管这种解决方案不会增加位置的不确定性，但它最终会导致交叉路口通行能力不佳。我们提出了Crossroads，一种对车辆和交叉路口管理器的接口进行编程的时间敏感型编程方法。Crossroads无需额外的缓冲区来考虑网络和计算延迟的影响，就能实现高效的交叉路口管理。使用TRAXXAS遥控车在1/10比例的交叉路口模型上进行的测试结果表明，我们的Crossroads方法无需为适应网络和计算延迟而设置大的缓冲区，并且可以将单车道交叉路口车辆的平均等待时间减少24%。为了将Crossroads与以前的方法进行比较，我们进行了大量的Matlab模拟，发现Crossroads的平均通行能力比带有额外安全缓冲区的简单VT - IM高1.62倍，比AIM高1.36倍。
For autonomous vehicles, intelligent autonomous intersection management will be required for safe and efficient operation. In order to achieve safe operation despite uncertainties in vehicle trajectory, intersection management techniques must consider a safety buffer around the vehicles. For truly safe operation, an extra buffer space should be added to account for the network and computational delay caused by communication with the Intersection Manager (IM). However, modeling the worst-case computation and network delay as additional buffer around the vehicle degrades the throughput of the intersection. To avoid this problem, AIM[1], a popular state-of-the-art IM, adopts a query-based approach in which the vehicle requests to enter at a certain arrival time dictated by its current velocity and distance to the intersection, and the IM replies yes/no. Although this solution does not degrade the position uncertainty, it ultimately results in poor intersection throughput. We present Crossroads, a time-sensitive programming method to program the interface of a vehicle and the IM. Without requiring additional buffer to account for the effect of network and computational delay, Crossroads enables efficient intersection management. Test results on a 1/10 scale model of intersection using TRAXXAS RC cars demonstrates that our Crossroads approach obviates the need for large buffers to accommodate for the network and computation delay, and can reduce the average wait time for the vehicles at a single-lane intersection by 24%. To compare Crossroads with previous approaches, we perform extensive Matlab simulations, and find that Crossroads achieves on average 1.62X higher throughput than a simple VT-IM with extra safety buffer, and 1.36X better than AIM.