A lane-change maneuver on a congested highway could be severely disruptive or even infeasible without the cooperation of neighboring cars. However, cooperation with other vehicles does not guarantee that the performed maneuver will not have a negative impact on traffic flow unless it is explicitly considered in the cooperative controller design. In this letter, we present a socially compliant framework for cooperative lane-change maneuvers for an arbitrary number of CAVs on highways that aims to interrupt traffic flow as minimally as possible. Moreover, we explicitly impose feasibility constraints in the optimization formulation by using reachability set theory, leading to a unified design that removes the need for an iterative procedure used in prior work. We quantitatively evaluate the effectiveness of our framework and compare it against previously offered approaches in terms of maneuver time and incurred throughput disruption.
翻译:没有相邻车辆的合作,在拥挤的高速公路上更换车道的操作可能会造成严重干扰,甚至不可行;然而,与其他车辆的合作并不能保证所操作的操作不会对交通流量产生消极影响,除非合作控制器的设计明确考虑到这一点;在本信中,我们提出了一个符合社会要求的框架,用于合作更换车道,在高速公路上进行专制的更换车道操作,目的是尽可能少地阻断交通流量;此外,我们利用可达性套数理论,明确对优化的制定规定可行性限制,导致采用统一的设计,从而消除先前工作中使用的迭接程序的必要性;我们从数量上评估我们框架的有效性,并将其与先前提供的操作时间和吞吐中断的方法进行比较。</s>