交差点通過の容量最大化と安全を両立する周期・イベントトリガ型制御
Periodic and Event-Triggering for Joint Capacity Maximization and Safe Intersection Crossing
交差点管理システムが接続自動運転車を制御し、位置不確かさを考慮しつつ容量最大化と燃費最小化を図る。イベントトリガ型では再最適化を92.2%削減しながら性能を維持する。
著者: Christian Vitale, Panayiotis Kolios, Georgios Ellinas
分類: cs.RO
原文アブストラクト
Intersection crossing represents a bottleneck for transportation systems and Connected Autonomous Vehicles (CAVs) may be the groundbreaking solution to the problem. This work proposes a novel framework, i.e, AVOID-PERIOD, where an Intersection Manager (IM) controls CAVs approaching an intersection in order to maximize intersection capacity while minimizing the CAVs' gas consumption. Contrary to most of the works in the literature, the CAVs' location uncertainty is accounted for and periodic communication and re-optimization allows for the creation of safe trajectories for the CAVs. To improve scalability for high-traffic intersections, an event-triggering approach is also developed (AVOID-EVENT) that minimizes computational and communication complexity. AVOID-EVENT reduces the number of re-optimizations required by 92.2%, while retaining most of the benefits introduced by AVOID-PERIOD.
