论文标题
干扰对自动驾驶汽车混合交通管制的影响
Impact of Disturbances on Mixed Traffic Control with Autonomous Vehicles
论文作者
论文摘要
本文调查了干扰对控制自动驾驶汽车以平滑环路设置混合交通流量的影响。通过利用该系统的环结构，可以表明影响环上任何车辆的速度扰动进入由相对车辆间距的总和定义的不可控制且边缘稳定的模式。然后，系统将这些干扰集成到该系统，无法通过控制自动驾驶汽车来解开。特别是，如果速度干扰是零均值的高斯人，则环上的交通流量将随机散步，而差异无限地且独立于采用的控制策略。相比之下，加速干扰的影响是良性的，因为这些干扰没有进入无法控制的模式，这意味着可以使用自动驾驶汽车轻松调节它们。我们的结果支持并补充现有的理论分析和现场实验。
This paper investigates the impact of disturbances on controlling an autonomous vehicle to smooth mixed traffic flow in a ring road setup. By exploiting the ring structure of this system, it is shown that velocity perturbations impacting any vehicle on the ring enter an uncontrollable and marginally stable mode defined by the sum of relative vehicle spacings. These disturbances are then integrated up by the system and cannot be unwound via controlling the autonomous vehicle. In particular, if the velocity disturbances are zero-mean Gaussians, then the traffic flow on the ring will undergo a random walk with the variance growing indefinitely and independently of the control policy applied. In contrast, the impact of acceleration disturbances is benign as these disturbances do no enter the uncontrollable mode, meaning that they can be easily regulated using the autonomous vehicle. Our results support and complement the existing theoretic analysis and field experiments.
