论文标题
与混合合作和非合件车辆的非信号交叉点处的分布式调度
Distributed Scheduling at Non-Signalized Intersections with Mixed Cooperative and Non-Cooperative Vehicles
论文作者
论文摘要
与混合合作和非合作车辆混合合作和非合作车辆的交叉管理在下一代运输系统中至关重要。对于完全非配合的系统，建立了Minimax调度框架，而混合系统的效率低下，因为没有利用合作的好处。这封信的重点是混合系统中的有效调度，并提出了一个两阶段的政策，以充分利用合作关系。具体而言，首先制定了长期的自组织政策，以优化以分布式方式优化合作车辆的通过顺序，当入站道路足够长时间，这被证明是收敛的。然后，提出了短暂的轨迹计划政策，以提高自我车辆面对合作和非合作车辆的效率，并且从理论上验证了其安全性和效率。此外，数值模拟验证拟议的政策可以有效地降低调度成本并改善合作车辆的吞吐量。
Intersection management with mixed cooperative and non-cooperative vehicles is crucial in next-generation transportation systems. For fully non-cooperative systems, a minimax scheduling framework was established, while it is inefficient in mixed systems as the benefit of cooperation is not exploited. This letter focuses on the efficient scheduling in mixed systems and proposes a two-stage policy that makes full use of the cooperation relation. Specifically, a long-horizon self-organization policy is first developed to optimize the passing order of cooperative vehicles in a distributed manner, which is proved convergent when inbound roads are sufficiently long. Then a short-horizon trajectory planning policy is proposed to improve the efficiency when an ego-vehicle faces both cooperative and non-cooperative vehicles, and its safety and efficiency are theoretically validated. Furthermore, numerical simulations verify that the proposed policies can effectively reduce the scheduling cost and improve the throughput for cooperative vehicles.
