论文标题
混合交通流中自动驾驶汽车的最佳形成
Optimal Formation of Autonomous Vehicles in Mixed Traffic Flow
论文作者
论文摘要
多辆自动驾驶汽车的排在学术界和工业上都引起了极大的关注。尽管具有巨大的潜力，但排量并不是在混合交通流中形成自动驾驶汽车的唯一选择，在这种交通流中，自动驾驶汽车和人类驱动的车辆（HDV）共存。在本文中，我们研究了可以在混合交通流中实现最佳系统性能的最佳自动驾驶汽车的最佳形成。具体来说，我们考虑了整个交通流量的最佳$ \ MATHCAL {H} _2 $性能，这反映了自动驾驶汽车在减轻交通扰动方面的潜力。然后，我们将最佳构造问题提出为设置功能优化问题。数值结果揭示了两个主要的最佳构成：根据交通参数，统一分布和排构成。此外，我们表明1）流行排的形成并不总是最佳选择； 2）当HDV的弦稳定性行为差时，排的形成可能是最坏的选择。这些结果表明，在混合交通流量中，超越排量的自动驾驶汽车形成了更多机会。
Platooning of multiple autonomous vehicles has attracted significant attention in both academia and industry. Despite its great potential, platooning is not the only choice for the formation of autonomous vehicles in mixed traffic flow, where autonomous vehicles and human-driven vehicles (HDVs) coexist. In this paper, we investigate the optimal formation of autonomous vehicles that can achieve an optimal system-wide performance in mixed traffic flow. Specifically, we consider the optimal $\mathcal{H}_2$ performance of the entire traffic flow, reflecting the potential of autonomous vehicles in mitigating traffic perturbations. Then, we formulate the optimal formation problem as a set function optimization problem. Numerical results reveal two predominant optimal formations: uniform distribution and platoon formation, depending on traffic parameters. In addition, we show that 1) the prevailing platoon formation is not always the optimal choice; 2) platoon formation might be the worst choice when HDVs have a poor string stability behavior. These results suggest more opportunities for the formation of autonomous vehicles, beyond platooning, in mixed traffic flow.
