A-DRIVE: Autonomous Deadlock Detection and Recovery at Road Intersections for Connected and Automated Vehicles
A-DRIVE: Autonomous Deadlock Detection and Recovery at Road Intersections for Connected and Automated Vehicles
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A-DRIVE：联网和自动驾驶车辆道路交叉口的自主死锁检测和恢复
DOI：
10.1109/iv51971.2022.9827436
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发表时间：
2022
期刊：
影响因子：
--
通讯作者：
Raj Rajkumar Ragunathan
中科院分区：
文献类型：
--
作者：
Aoki Shunsuke;Raj Rajkumar Ragunathan
互联和自动驾驶汽车（CAV）有望提高道路交叉口、单轨车道和施工区的交通吞吐量和安全性。然而，多个CAV可能彼此阻塞并且在这些路段周围产生相互的死锁（i）当车辆系统具有故障（诸如通信故障、控制故障或定位故障）时和/或（ii）当车辆使用长的共享路段时。在本文中，我们提出了一个自动化车辆的自动死锁检测和恢复协议A-DRIVE，这是一个分散的和时间敏感的技术，以提高交通吞吐量和缩短最坏情况下的恢复时间。为了实现自动驾驶车辆和人类驾驶车辆的死锁恢复，A-DRIVE包括两个组件：基于V2 V通信的A-DRIVE和基于本地感知的A-DRIVE。基于V2 V通信的A-DRIVE专为同质交通环境而设计，其中所有车辆都是连接和自动化的。基于本地感知的A-DRIVE适用于混合交通，其中CAV，非连接自动驾驶车辆和人类驾驶车辆共存并相互合作。由于这两个组件不是唯一的，因此CAV在实践中可以包容并无缝地使用它们。最后，我们的模拟结果表明，A-DRIVE提高流量吞吐量相比，基线协议。
Connected and Automated Vehicles (CAVs) are highly expected to improve traffic throughput and safety at road intersections, single-track lanes, and construction zones. However, multiple CAVs can block each other and create a mutual deadlock around these road segments (i) when vehicle systems have a failure, such as a communication failure, control failure, or localization failure and/or (ii) when vehicles use a long shared road segment. In this paper, we present an Autonomous Deadlock Detection and Recovery Protocol at Intersections for Automated Vehicles named A-DRIVE that is a decentralized and time-sensitive technique to improve traffic throughput and shorten worst-case recovery time. To enable the deadlock recovery with automated vehicles and with human-driven vehicles, A-DRIVE includes two components: V2V communication-based A-DRIVE and Local perception-based A-DRIVE. V2V communication-based A-DRIVE is designed for homogeneous traffic environments in which all the vehicles are connected and automated. Local perception-based A-DRIVE is for mixed traffic, where CAVs, non-connected automated vehicles, and human-driven vehicles co-exist and cooperate with one another. Since these two components are not exclusive, CAVs inclusively and seamlessly use them in practice. Finally, our simulation results show that A-DRIVE improves traffic throughput compared to a baseline protocol.
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