Connected Autonomous Vehicle Control Considering Human Driving Aggressive Lane Change From a Cyber-Physical Perspective

IF 7.1 2区计算机科学 Q1 ENGINEERING, ELECTRICAL & ELECTRONIC

IEEE Transactions on Vehicular Technology Pub Date : 2025-01-23 DOI:10.1109/TVT.2025.3533114

Zhe Wang;Min Zhao;Dihua Sun;Liuping Wang;Jingdong Lin;Senlin Cheng

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引用次数: 0

Abstract

The aggressive lane-changing behavior of human-driven vehicles (HVs) under mixed traffic has a negative impact on connected autonomous vehicles (CAVs). This behavior is frequently observed in the vicinity of signalized intersection. From the perspective of cyber-physical systems (CPS), the negative impact on driving safety can be eliminated through the control algorithm at the CPS micro-scale level; and the negative impact on traffic efficiency can be suppressed through the CAV decision-making strategy at the CPS meso-scale level. This paper introduces a two-stage method aimed at safeguarding the right of way for CAVs and optimizing traffic efficiency in the scenario. Additionally, A CAV safety controller is developed to effectively handle the challenges posed by HVs violating game rules through continued aggressive lane changes. Simulation experiments demonstrate that compared to conventional game algorithms, the proposed method enhances traffic flow, increases average speeds, and diminishes traffic congestion in this scenario. The designed controller can ensure the safety of CAV driving in the target lane.

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从网络物理角度考虑人类驾驶攻击性变道的互联自动驾驶汽车控制

混合交通条件下，人类驾驶车辆的攻击性变道行为对联网自动驾驶汽车（cav）产生了负面影响。这种行为在信号交叉口附近经常观察到。从信息物理系统（CPS）的角度来看，可以通过CPS微观层面的控制算法消除对驾驶安全的负面影响；在CPS中尺度上，CAV决策策略可以抑制对交通效率的负面影响。本文介绍了一种两阶段的方法，旨在保障自动驾驶汽车的路权和优化该场景下的交通效率。此外，还开发了一种CAV安全控制器，以有效处理hv因持续激进变道而违反游戏规则所带来的挑战。仿真实验表明，与传统博弈算法相比，本文提出的算法在该场景下增强了交通流量，提高了平均速度，减少了交通拥堵。所设计的控制器能够保证自动驾驶汽车在目标车道上的安全行驶。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Transactions on Vehicular Technology 工程技术-电信学

CiteScore

6.00

自引率

8.80%

发文量

1245

审稿时长

6.3 months

期刊介绍： The scope of the Transactions is threefold (which was approved by the IEEE Periodicals Committee in 1967) and is published on the journal website as follows: Communications: The use of mobile radio on land, sea, and air, including cellular radio, two-way radio, and one-way radio, with applications to dispatch and control vehicles, mobile radiotelephone, radio paging, and status monitoring and reporting. Related areas include spectrum usage, component radio equipment such as cavities and antennas, compute control for radio systems, digital modulation and transmission techniques, mobile radio circuit design, radio propagation for vehicular communications, effects of ignition noise and radio frequency interference, and consideration of the vehicle as part of the radio operating environment. Transportation Systems: The use of electronic technology for the control of ground transportation systems including, but not limited to, traffic aid systems; traffic control systems; automatic vehicle identification, location, and monitoring systems; automated transport systems, with single and multiple vehicle control; and moving walkways or people-movers. Vehicular Electronics: The use of electronic or electrical components and systems for control, propulsion, or auxiliary functions, including but not limited to, electronic controls for engineer, drive train, convenience, safety, and other vehicle systems; sensors, actuators, and microprocessors for onboard use; electronic fuel control systems; vehicle electrical components and systems collision avoidance systems; electromagnetic compatibility in the vehicle environment; and electric vehicles and controls.