Distributed Maneuver Planning With Connected and Automated Vehicles for Boosting Traffic Efficiency
Distributed Maneuver Planning With Connected and Automated Vehicles for Boosting Traffic Efficiency
复制标题
使用联网和自动化车辆进行分布式机动规划，以提高交通效率
DOI：
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发表时间：
2022
期刊：
影响因子：
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通讯作者：
B. Ayalew
中科院分区：
文献类型：
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作者：
Nathan Goulet;B. Ayalew
联网自动驾驶车辆 (CAV) 具有提高交通吞吐量并更有效地利用现有道路基础设施的潜力。它们还有可能通过交通运动协调来减少能源消耗，即使是在与其他人类驾驶车辆混合交通时也是如此。实现这些潜力的关键是可以通过 CAV 以分布式方式实施的协调控制方案。在本文中，我们提出了一种分布式预测控制框架，该框架具有二维机动规划器，结合了在不同渗透水平的混合交通中运行的联网车辆之间的显式协调约束。该框架包括参考速度分配器的分布式实现，该分配器根据车载测量和通信信息估计本地交通速度。我们从交通流、能源使用和车道利用率的角度对各种 CAV 渗透率的交通微观模拟中提出的框架进行了广泛的评估。将结果与没有 CAV 的基线场景以及基准一维规划器进行比较。
Connected and automated vehicles (CAVs) have the potential to improve traffic throughput and achieve a more efficient utilization of the available roadway infrastructure. They also have the potential to reduce energy consumption through traffic motion harmonization, even when operating in mixed traffic with other human-driven vehicles. The key to realizing these potentials are coordinated control schemes that can be implemented in a distributed manner with the CAVs. In this paper, we propose a distributed predictive control framework that features a two-dimensional maneuver planner incorporating explicit coordination constraints between connected vehicles operating in mixed traffic at various penetration levels. The framework includes a distributed implementation of a reference speed assigner that estimates local traffic speed from on-board measurements and communicated information. We present an extensive evaluation of the proposed framework in traffic micro-simulations at various CAV penetrations from traffic flow, energy use, and lane utilization points of view. Results are compared to a baseline scenario with no CAVs, as well as, a benchmark one-dimensional planner.