重温Followerstopper：用于交通拥堵缓解的相空间拉格朗日控制器
Followerstopper Revisited: Phase-space Lagrangian Controller for Traffic Decongestion
AI总结：
本文重温Followerstopper控制系统，探索其相空间特性并提出非线性控制律，在物理边界内调节参考输入与速度，以缓解走走停停交通引发的拥堵并确保行驶安全。
摘要：
本文重温了Followerstopper，这是一种基于相空间的控制系统，在混合自动驾驶环境下，它已证明其能够缓解由高峰时段走走停停交通引发的突发性交通拥堵。Followerstopper被部署在自动驾驶车辆上。该控制器通过根据前车的相对距离和相对速度调节自身速度，来衰减 emanant 交通波。在调节速度的同时，控制器还能防止本车在控制器设计参数规定的范围内与前车发生碰撞。控制器设计基于相对距离-相对速度相空间上的一条可配置二次曲线，允许调节速度在以下状态间转换：(i) 不修改输入，(ii) 减速以匹配前车速度，(iii) 刹车以避免任何即将发生的碰撞。在本文中，我们探索了 Followerstopper 的相空间特性，并详细描述了一种非线性控制律，该律在物理信息边界内调节 Followerstopper 的参考输入。我们还对名义控制律提供了新的讨论，该律调节 Followerstopper 的参考速度，以避免不切实际和不安全的加速度。
英文摘要：
This paper revisits Followerstopper, a phase-space-based control system that had demonstrated its ability to mitigate emergent traffic jams due to stop-and-go traffic during rush hour in the mixed-autonomy setting. Followerstopper was deployed on an autonomous vehicle. The controller attenuates the emanant traffic waves by regulating its velocity according to the relative distance and velocity of the leader car. While regulating the velocity, the controller also prevents the collision of the ego vehicle with the lead vehicle within the range specified by the controller's design parameter. The controller design is based on a configurable quadratic curve on relative distance-relative velocity phase-space that allows the transition of the regulated velocity from (i) no modification of input, (ii) decelerating to match the leader's velocity (iii) braking to avoid any imminent collision. In this paper, we explore the phase-space properties of Followerstopper and provide a detailed description of a nonlinear control law that regulates the reference input to Followerstopper within the physics-informed boundaries. We also provide a new discussion on the nominal control law that regulates the reference speed to Followerstopper to avoid unrealistic and unsafe acceleration.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
