论文标题
高速无信号交叉点的延迟稳定控制
Latency-Robust Control of High-Speed Signal-Free Intersections
论文作者
论文摘要
高速无信号的交叉点是连接和自动驾驶汽车实现的新型城市交通运营。但是，尚未对交流潜伏期对交集性能的影响尚未得到充分理解。在本文中，我们考虑在无信号交叉点与延迟的车辆协调。我们专注于两个问题：（i）如何确保协调算法的延迟延迟，以及（ii）潜伏期如何影响交叉路口的能力。我们考虑具有有界速度不确定性的基于轨迹的模型。潜伏期会导致状态观察不确定。我们提出了一项分段线性控制法，只要初始条件是安全的，就可以确保安全（避免干扰）。我们还通过分析量化了所提出的控制在延迟时可以达到的吞吐量。
High-speed signal-free intersections are a novel urban traffic operations enabled by connected and autonomous vehicles. However, the impact of communication latency on intersection performance has not been well understood. In this paper, we consider vehicle coordination at signal-free intersections with latency. We focus on two questions: (i) how to ensure latency-resiliency of the coordination algorithm, and (ii) how latency affects the intersection's capacity. We consider a trajectory-based model with bounded speed uncertainties. Latency leads to uncertain state observation. We propose a piecewise-linear control law that ensures safety (avoidance of interference) as long as the initial condition is safe. We also analytically quantify the throughput that the proposed control can attain in the face of latency.
