Trajectories and Platoon-forming Algorithm for Intersections with Heterogeneous Autonomous Traffic
CoRR(2023)
摘要
The anticipated launch of fully autonomous vehicles presents an opportunity
to develop and implement novel traffic management systems. Intersections are
one of the bottlenecks for urban traffic, and thus offer tremendous potential
for performance improvements of traffic flow if managed efficiently.
Platoon-forming algorithms, in which vehicles are grouped together with short
inter-vehicular distances just before arriving at an intersection at high
speed, seem particularly promising in this aspect. In this work, we present an
intersection access control system based on platoon-forming for heterogeneous
autonomous traffic. The heterogeneity of traffic arises from vehicles with
different acceleration capabilities and safety constraints. We focus on
obtaining computationally fast and interpretable closed-form expressions for
safe and efficient vehicle trajectories that lead to platoon formation, and
show that these trajectories are solutions to certain classes of optimisation
problems. Additionally, we conduct a numerical study to obtain approximations
for intersection capacity as a result of such platoon formation.
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