Safe Merging Control in Mixed Vehicular Traffic
Safe Merging Control in Mixed Vehicular Traffic
复制标题
DOI：
10.23919/acc55779.2023.10156078
复制
发表时间：
2023-05
期刊：
影响因子：
--
通讯作者：
Vahid Hamdipoor;N. Meskin;C. Cassandras
中科院分区：
文献类型：
--
作者：
Vahid Hamdipoor;N. Meskin;C. Cassandras
尽管只有协调和自动驾驶车辆（CAV）的交通系统的潜在好处，预计人类驾驶车辆（HDV）和CAV共存，在可预见的未来。由于人类驾驶员的不确定性和不可预测性，开发具有安全保证的控制框架，特别是在交通瓶颈（如合并点）中是一个具有挑战性的问题。出于这一事实的动机，本文研究了混合车辆交通中的合并问题，并开发了一种在HDV存在的情况下对CAVs进行安全关键的实时分散控制。我们使用控制李雅普诺夫函数（CLF）来达到预期的控制目标，和控制障碍函数（CBF），以保证合并操作的安全性。假设一个高级别的协调员确定通过合并区域的车辆的顺序，并在主车道和合并车道中形成三个车辆。然后，考虑了CAV和HDV的三种不同组合，并为每一种组合开发了安全完成合并操作所需的CLF和CBF。仿真结果证明了所提出的方案的有效性。
Despite the potential benefits of a traffic system with only Coordinated and Automated Vehicles (CAVs), it is expected that Human Driven Vehicles (HDVs) and CAVs co-exist for the foreseeable future. Due to uncertainty and the unpredictability of human drivers, developing a control framework with safety guarantees, especially in the traffic bottlenecks such as merging points is a challenging problem. Motivated by this fact, in this paper we study a merging problem in mixed vehicular traffic and we develop a safety-critical real-time decentralized control of CAVs in the presence of HDVs. We use Control Lyapunov Functions (CLFs) to attain the desired control objectives, and Control Barrier Functions (CBFs) to guarantee the safety of the merging operation. It is assumed that a high level coordinator determines the sequence of vehicles pass the merging area and forms a triplet of vehicles in the main lane and the merging lane. Then, three different combinations of CAVs and HDVs are considered and for each one, required CLFs and CBFs to safely accomplish the merging operation are developed. Simulation results are provided to demonstrate the efficacy of the proposed schemes.