Development of a Research Testbed for Cooperative Driving in Mixed Traffic of Human-driven and Autonomous Vehicles
Development of a Research Testbed for Cooperative Driving in Mixed Traffic of Human-driven and Autonomous Vehicles
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DOI：
10.1109/iros47612.2022.9981436
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发表时间：
2022-10
期刊：
影响因子：
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通讯作者：
Jiaxing Lu;Ryan Stracener;W. Sheng;H. Bai;Sanzida Hossain
中科院分区：
文献类型：
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作者：
Jiaxing Lu;Ryan Stracener;W. Sheng;H. Bai;Sanzida Hossain
本文介绍了一种基于车对车(V2V)通信的协同驾驶试验台，该试验台可用于智能交通系统的研究，如人驾驶车辆和自动驾驶车辆混合交通中的防撞。为了实现这一目标，研制了一种智能副驾驶仪。副驾驶可以通过V2V通信与附近的其他车辆共享关于车辆状态、意图等的数据。通过几个案例对所提出的试验台进行了验证，并对协同驾驶的性能进行了评估。当危险情况发生时，副驾驶使用混合整数编程(MIP)解决碰撞避免问题，该算法要么向自动驾驶车辆提供控制命令，要么建议人类驾驶员采取行动。实验结果表明，涉事车辆的安全性和稳定性得到了显著提高。研究人员可以在协同驾驶算法部署到真实车辆之前，使用该协同驾驶试验台来开发和测试协同驾驶算法。
This paper presents a cooperative driving testbed based on vehicle-to-vehicle (V2V) communication, which can be used for research in intelligent transportation systems, such as collision avoidance in mixed traffic of both human-driven vehicles and autonomous vehicles. To achieve the goal, an intelligent copilot is developed. The copilot can share the data regarding vehicle status, intention, etc, with other nearby vehicles through V2V communication. Several case studies are conducted to validate the proposed testbed and evaluate the performances of cooperative driving. When dangerous situations occur, the copilot solves the collision avoidance problem using Mixed Integer Programming (MIP), which either provides control commands to the autonomous vehicle, or advises the human driver to take action. Experimental results show that the safety and stability of the involved vehicles have been significantly enhanced. This cooperative driving testbed can be used by researchers to develop and test cooperative driving algorithms before they are deployed in real vehicles.