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Electrical Engineering and Systems Science > Systems and Control

arXiv:2206.14391 (eess)
[Submitted on 29 Jun 2022]

Title:Non-local Evasive Overtaking of Downstream Incidents in Distributed Behavior Planning of Connected Vehicles

Authors:Abdul Rahman Kreidieh, Yashar Farid, Kentaro Oguchi
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Abstract:The prevalence of high-speed vehicle-to-everything (V2X) communication will likely significantly influence the future of vehicle autonomy. In several autonomous driving applications, however, the role such systems will play is seldom understood. In this paper, we explore the role of communication signals in enhancing the performance of lane change assistance systems in situations where downstream bottlenecks restrict the mobility of a few lanes. Building off of prior work on modeling lane change incentives, we design a controller that 1) encourages automated vehicles to subvert lanes in which distant downstream delays are likely to occur, while also 2) ignoring greedy local incentives when such delays are needed to maintain a specific route. Numerical results on different traffic conditions and penetration rates suggest that the model successfully subverts a significant portion of delays brought about by downstream bottlenecks, both globally and from the perspective of the controlled vehicles.
Subjects: Systems and Control (eess.SY)
Cite as: arXiv:2206.14391 [eess.SY]
  (or arXiv:2206.14391v1 [eess.SY] for this version)
  https://doi.org/10.48550/arXiv.2206.14391

Submission history

From: Abdul Rahman Kreidieh [view email]
[v1] Wed, 29 Jun 2022 04:06:16 UTC (17,185 KB)
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