車間追従における相互作用：常に重要とは限らない
Interactive Car-Following: Matters but NOT Always
車間追従ペアの相互作用強度を定量化する新指標を提案し、相互作用の有無に応じて制御方策を切り替える枠組みを開発した。人間の運転行動を分析し、先行車への反応は常に生じるわけではないことを示した。
著者: Chengyuan Zhang, Rui Chen, Jiacheng Zhu, Wenshuo Wang, Changliu Liu, Lijun Sun
分類: cs.RO
原文アブストラクト
Following a leading vehicle is a daily but challenging task because it requires adapting to various traffic conditions and the leading vehicle's behaviors. However, the question `Does the following vehicle always actively react to the leading vehicle?' remains open. To seek the answer, we propose a novel metric to quantify the interaction intensity within the car-following pairs. The quantified interaction intensity enables us to recognize interactive and non-interactive car-following scenarios and derive corresponding policies for each scenario. Then, we develop an interaction-aware switching control framework with interactive and non-interactive policies, achieving a human-level car-following performance. The extensive simulations demonstrate that our interaction-aware switching control framework achieves improved control performance and data efficiency compared to the unified control strategies. Moreover, the experimental results reveal that human drivers would not always keep reacting to their leading vehicle but occasionally take safety-critical or intentional actions -- interaction matters but not always.
