المفاهيم الأساسية
A novel low-cost decentralized algorithm that enables autonomous vehicles to navigate unsignalized intersections in low-traffic density scenarios by maximizing intersection throughput without relying on dedicated infrastructure.
الملخص
The paper proposes a decentralized algorithm for autonomous intersection management in low-traffic density scenarios. The key highlights are:
- The algorithm does not require any dedicated infrastructure, such as traffic signals or communication protocols, making it a low-cost solution.
- It utilizes a harmony matrix to capture the non-conflicting maneuvers that can be executed simultaneously at the intersection.
- A graph is constructed based on the harmony matrix, and the maximal clique problem is solved to determine the optimal combination of vehicles that can cross the intersection without conflicts, thereby maximizing the throughput.
- The algorithm incorporates lane priorities and a green zone buffer to handle edge cases and ensure deadlock-free operation.
- Extensive simulations in SUMO demonstrate the algorithm's superior performance compared to fixed-time and adaptive traffic signals, and its competitiveness with a communication-based approach (V2I-C) at low traffic densities.
- The algorithm's versatility is showcased by evaluating its performance across 3-way, 4-way, and 5-way intersections, highlighting its scalability.
الإحصائيات
In 2021, a staggering 98,571 accidents were related to intersections, with a vast majority of 74.21% (i.e., 73,155) occurring at uncontrolled intersections.
In the EU, 20% of fatalities are intersection-related, and in the USA, 21.5% of intersection crashes lead to fatalities out of a total of 40%.
The average speed limit on single-lane roads is 40 km/h, and the average deceleration rate for passenger cars is 2 m/s^2.
اقتباسات
"The absence of infrastructure can cause traffic flow disruptions, leading to safety issues. To mitigate these problems, the installation of the required infrastructure is imperative."
"Given the potential risks and costs associated with uncontrolled intersections, it is crucial to find effective ways of managing them. This question of intersection management becomes even more pressing with the increasing prevalence of autonomous vehicles."