A Dynamic Evolution Method for Autonomous Vehicle Groups in a Highway Scene
A Dynamic Evolution Method for Autonomous Vehicle Groups in a Highway Scene
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高速公路场景中自主车辆群体的动态进化方法
DOI：
10.1109/jiot.2021.3086832
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发表时间：
2022-01
影响因子：
10.6
通讯作者：
Changjun Jiang
中科院分区：
文献类型：
--
作者：
Jiujun Cheng;Mingdong Ju;Mengchu Zhou;Cong Liu;Shangce Gao;Abdullah Abusorrah;Changjun Jiang
由自主车辆组成的车辆群可以增加车辆的感知范围，其动态演化可以为自主车辆的操作提供指导。现有的车辆编组研究大多没有提出一个标准的车辆编组模型，也没有考虑车辆的机动性和车辆编组的动态拓扑。相反，他们专注于检测动态演化而不预测它。这项工作提出了一种自动驾驶车辆群体的动态演化方法。它首先定义了五种车辆状态及其转换。提出了一种基于车辆状态的自主车辆编组方法，建立了自主车辆编组模型。接下来，它使用Meta车辆组序列来管理不同时间的车辆组。最后给出了车辆群动态演化的检测和预测方法。大量仿真结果表明，该方法能够建立自主车辆节点间的互联，准确检测车辆群内部的动态演化特征，有效预测车辆群的动态演化趋势。
Vehicle groups that are composed of autonomous vehicles can increase the perception range of vehicles, and their dynamic evolution can provide guidance for the operation of autonomous vehicles. Most existing studies on vehicle group formation neither propose a standard vehicle group model, nor consider vehicle mobility and dynamic topology of vehicle groups. Instead, they focus on detecting dynamic evolution without predicting it. This work proposes a dynamic evolution method for autonomous vehicle groups. It first defines five vehicle states and their transitions. Then, it proposes an autonomous vehicle group formation method based on vehicle states and formulates an autonomous vehicle group model. Next, it uses meta vehicle group sequences to manage vehicle groups at different times. Finally, it gives detection and prediction methods of vehicle group dynamic evolution. Extensive simulation results show that the proposed method can be used to establish interconnection among autonomous vehicle nodes, detect dynamic evolution characteristics inside a vehicle group precisely, and predict dynamic evolution trends of vehicle groups effectively.