Cyber Traffic Light: Safe Cooperation for Autonomous Vehicles at Dynamic Intersections
Cyber Traffic Light: Safe Cooperation for Autonomous Vehicles at Dynamic Intersections
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DOI：
10.1109/tits.2022.3146457
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发表时间：
2022-11
影响因子：
8.5
通讯作者：
Shunsuke Aoki;R. Rajkumar
中科院分区：
文献类型：
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作者：
Shunsuke Aoki;R. Rajkumar
自动驾驶系统正变得越来越可行，并有望成为智能交通系统的核心。为了在公共道路上部署自动驾驶车辆，实际挑战之一可能是多辆车辆之间的安全合作和协作，特别是当在共享路段发生冲突时，例如道路交叉口，合并点，施工区，单轨车道和中心转弯车道。在当前的交通系统中，人类驾驶员使用交通规则、社会规范、礼貌、手势和常识的组合来导航这些区域。在本文中，我们确定和分类，可能会导致车辆事故和/或死锁，可能会出现在公共道路上几乎随时随地的动态交叉口。此外，我们提出了一个合作的动态路口协议，使用车载感知系统和车辆通信对等协商。根据我们的协议，自动驾驶车辆可以在出现拥堵时创建一个基于车辆通信的交通管理器，名为Cyber Traffic Light。网络交通灯作为一个自组织、自规划和自优化的交通管理器，它为来自多个方向的车辆分配绿色时段。最后，我们证明了我们的分散协议具有更高的流量吞吐量，与两个简单的协议相比，同时保证道路安全。
Autonomous driving systems are becoming increasingly feasible and highly expected to be the heart of intelligent transportation systems. To deploy the autonomous driving vehicles on public roads, one of the practical challenges might be safe cooperation and collaboration among multiple vehicles, in particular when conflicts arise on shared road segments, such as road intersections, merge points, construction zones, single-track lanes, and center turn lane. In the current traffic systems, human drivers navigate these regions using a combination of traffic rules, social norms, courtesy, hand signals, and common sense. In this paper, we identify and classify such Dynamic Intersections that might lead to vehicle accidents and/or deadlocks and that might appear almost anytime and anywhere on public roads. In addition, we present a cooperative dynamic intersection protocol that uses on-board perception systems and vehicular communications for peer-to-peer negotiation. Under our protocol, autonomous driving vehicles can create a vehicular communication-based traffic manager named Cyber Traffic Light when congestion arises. Cyber Traffic Light works as a self-organizing, self-planning, and self-optimizing traffic manager, and it allocates the green period for vehicles coming from the multiple directions. Finally, we showed that our decentralized protocol has much higher traffic throughput, compared to two simple protocols while guaranteeing road safety.