论文标题
混合交通流量中的自动驾驶汽车的合作形成：超越排
Cooperative Formation of Autonomous Vehicles in Mixed Traffic Flow: Beyond Platooning
论文作者
论文摘要
自动驾驶汽车（AVS）的合作形成和控制承诺在公共道路上提高效率和安全性。在由AV和人类驱动车辆（HDV）组成的混合交通流量中，多个AV的流行排列并不是合作地层的唯一选择。在本文中，我们研究了不同形式的AV如何从设定功能优化的角度影响交通绩效。当AVS采用典型的自适应巡航控制（ACC）策略时，我们首先揭示了稳定性不变性属性和非合作形成的改进特性。然后，我们专注于合作形成的情况，在该情况下，AV控制器的合作设计％重新设计了不同编队中AV的控制策略，并使用Set-unction-unction优化研究了多个AV的最佳形成。从广泛的数值实验中出现了两个主要的最佳地层，即均匀分布和排的形成。有趣的是，当HDV的弦稳定性行为差时，排的可能性最小，可以提高流量性能。这些结果表明，在实际的混合交通流量下，除了等线外，还提供了更多的合作形成AV的机会。
Cooperative formation and control of autonomous vehicles (AVs) promise increased efficiency and safety on public roads. In mixed traffic flow consisting of AVs and human-driven vehicles (HDVs), the prevailing platooning of multiple AVs is not the only choice for cooperative formation. In this paper, we investigate how different formations of AVs impact traffic performance from a set-function optimization perspective. We first reveal a stability invariance property and a diminishing improvement property of noncooperative formation when AVs adopt typical Adaptive Cruise Control (ACC) strategies. Then, we focus on the case of cooperative formation where the AV controllers are cooperatively designed %redesign the control strategies of AVs in different formations and investigate the optimal formation of multiple AVs using set-function optimization. Two predominant optimal formations, i.e., uniform distribution and platoon formation, emerge from extensive numerical experiments. Interestingly, platooning might have the least potential to improve traffic performance when HDVs have poor string stability behavior. These results suggest more opportunities for cooperative formation of AVs, beyond platooning, in practical mixed traffic flow.
