论文标题
在非合件环境中合并CAV坡道的动态速度指导：现场实验
Dynamic Speed Guidance for CAV Ramp Merging in Non-Cooperative Environment: An On-Site Experiment
论文作者
论文摘要
坡道合并是合作智能运输系统（C-ITS）的典型应用。路边传感器感知到的车辆轨迹是进口板上感知视野有限的补充。在本文中提出了车辆跟踪和轨迹denoising算法，以充分利用路边摄像头进行车辆轨迹和速度轮廓估计。提出了动态速度引导算法，以帮助坡道车辆平稳合并到主线中，即使在不合作的环境中，主线车辆不会放慢速度以适应坡道上的车辆。现场实验是在杭州带高速公路的合并区域进行的，以证明我们的原型系统，模拟分析表明，我们提出的算法可以在坡道合并过程中实现大量的燃料节省。
Ramp merging is a typical application of cooperative intelligent transportation system (C-ITS). Vehicle trajectories perceived by roadside sensors are importation complement to the limited visual field of on-board perception. Vehicle tracking and trajectory denoising algorithm is proposed in this paper to take full advantage of roadside cameras for vehicle trajectory and speed profile estimation. Dynamic speed guidance algorithm is proposed to help on-ramp vehicles to merge into mainline smoothly, even in non-cooperative environment where mainline vehicles are not expected to slow down to accommodate on-ramp vehicles. On-site experiments were taken out in a merging area of Hangzhou Belt Highway to testify our prototype system, and simulation analysis shows our proposed algorithm can achieve significant fuel savings during the ramp merging process.
