Safe Intersection Management With Cooperative Perception for Mixed Traffic of Human-Driven and Autonomous Vehicles
Safe Intersection Management With Cooperative Perception for Mixed Traffic of Human-Driven and Autonomous Vehicles
复制标题
人工驾驶和自动驾驶车辆混合交通协同感知的安全交叉口管理
DOI：
10.1109/ojvt.2022.3177437
复制
发表时间：
2022
影响因子：
6.4
通讯作者：
Rajkumar Ragunathan
中科院分区：
文献类型：
--
作者：
Aoki Shunsuke;Rajkumar Ragunathan
自动驾驶系统有望在公共道路上使用，以提高交通吞吐量和道路安全，但在所有人类驾驶车辆都被自动驾驶车辆取代之前，可能需要很长的过渡期。因此，CAV必须安全地与周围的人类驾驶员合作，以便在这种过渡时期获得自动驾驶技术的好处。在本文中，我们提出了一个分布式同步交叉口协议（DSIP）和基于协同感知的高清地图（CP-HD地图）的混合交通环境中，自动驾驶车辆与人类驾驶的车辆共存。首先，在DSIP中，每个CAV利用动态决策机制，通过使用车辆状态和车辆模式，根据周围环境自适应地改变车辆行为。此外，在CP-HD Map中，每个CAV使用车对车（V2 V）通信来共享检测到的对象的信息，以提高混合交通环境中的道路安全性。在这些协议下，人类驾驶的车辆只需像今天一样遵循交通信号灯。最后，我们表明，DSIP和CP-HD地图增加周围的道路交叉口的交通吞吐量时，我们相比，现有的信号交叉口和其他V2 V通信为基础的协议。
Autonomous driving systems are highly expected to be used on public roads to improve traffic throughput and road safety, but it will likely take a long transition period before all human-driven vehicles can be replaces with autonomous vehicles. Hence, CAVs have to safely cooperate with the surrounding human drivers, in order to gain the benefits of autonomous driving technologies during such transition periods. In this paper, we present a Distributed Synchronous Intersection Protocol (DSIP) and a Cooperative Perception-based High-Definition Map (CP-HD Map) for mixed traffic environments, in which autonomous vehicles co-exist with human-driven vehicles. First, in DSIP, each CAV utilizes dynamic decision-making mechanisms to adaptively change the vehicle behaviors based on the surrounding environments by usingvehicle statesandvehicle mode. In addition, in CP-HD Map, each CAV uses Vehicle-to-Vehicle (V2V) communications to share the information of detected objects to improve the road safety in the mixed traffic environments. Under these protocols, human-driven vehicles simply follow the traffic lights just like they do today. Finally, we show that DSIP and CP-HD Map increase the traffic throughput around the road intersections when we compared to existing signalized intersections and other V2V communications-based protocols.