论文标题
A-Drive：连接和自动化车辆的道路交叉路口的自主僵持检测和恢复
A-DRIVE: Autonomous Deadlock Detection and Recovery at Road Intersections for Connected and Automated Vehicles
论文作者
论文摘要
高度期望连接的车辆和自动车辆（CAV）可以改善道路交叉口，单轨车道和建筑区域的交通吞吐量和安全性。但是，当车辆系统发生故障时，多个骑士可以互相阻挡，并在这些路段（i）周围互相僵局，例如通信故障，控制故障或定位故障和/或（ii）车辆使用长期共享的路段时。在本文中，我们在称为A-Drive的自动化车辆的交叉点上提出了一种自主僵持的检测和恢复协议，该车辆是一种分散的时间敏感技术，可改善交通吞吐量并缩短最差的案例恢复时间。为了通过自动车辆和人类驱动的车辆实现僵局恢复，A-Drive包括两个组件：基于V2V通信的A-驱动器和基于本地感知的A-Drive。基于V2V通信的A-Drive是为所有车辆连接和自动化的均匀交通环境而设计的。基于本地感知的A驱动器是用于混合交通的，骑士，非连接的自动车辆和人类驱动的车辆共存并彼此合作。由于这两个组件不是排他性的，因此在实践中包含和无缝地使用它们。最后，我们的仿真结果表明，与基线协议相比，A-Drive改善了流量吞吐量。
Connected and Automated Vehicles (CAVs) are highly expected to improve traffic throughput and safety at road intersections, single-track lanes, and construction zones. However, multiple CAVs can block each other and create a mutual deadlock around these road segments (i) when vehicle systems have a failure, such as a communication failure, control failure, or localization failure and/or (ii) when vehicles use a long shared road segment. In this paper, we present an Autonomous Deadlock Detection and Recovery Protocol at Intersections for Automated Vehicles named A-DRIVE that is a decentralized and time-sensitive technique to improve traffic throughput and shorten worst-case recovery time. To enable the deadlock recovery with automated vehicles and with human-driven vehicles, A-DRIVE includes two components: V2V communication-based A-DRIVE and Local perception-based A-DRIVE. V2V communication-based A-DRIVE is designed for homogeneous traffic environments in which all the vehicles are connected and automated. Local perception-based A-DRIVE is for mixed traffic, where CAVs, non-connected automated vehicles, and human-driven vehicles co-exist and cooperate with one another. Since these two components are not exclusive, CAVs inclusively and seamlessly use them in practice. Finally, our simulation results show that A-DRIVE improves traffic throughput compared to a baseline protocol.
