论文标题
在交通信号不确定性下的最佳驾驶
Optimal Driving Under Traffic Signal Uncertainty
论文作者
论文摘要
我们研究驾驶员在交通信号灯绿期持续时间内不确定性下的最佳轨迹计划。我们将其解释为一个最佳控制问题，目的是最大程度地减少基于燃料使用的预期成本，快速速度变化的不适以及到达目的地的时间。在动态编程的框架中，我们表明绿色相持续时间的概率分布会产生一系列汉密尔顿 - 雅各比 - 贝尔曼PDES，然后在数值上求解以以反馈形式获得最佳的加速/制动策略。我们的数值示例说明了这种方法，并强调了矛盾的目标和不确定性在塑造驾驶员行为中的作用。
We study driver's optimal trajectory planning under uncertainty in the duration of a traffic light's green phase. We interpret this as an optimal control problem with an objective of minimizing the expected cost based on the fuel use, discomfort from rapid velocity changes, and time to destination. Treating this in the framework of dynamic programming, we show that the probability distribution on green phase durations gives rise to a sequence of Hamilton-Jacobi-Bellman PDEs, which are then solved numerically to obtain optimal acceleration/braking policy in feedback form. Our numerical examples illustrate the approach and highlight the role of conflicting goals and uncertainty in shaping drivers' behavior.
