一种用于无信号交叉口自动驾驶车辆优先通过的分布式共识算法
A Distributed Consensus Algorithm for Prioritizing Autonomous Vehicle Passing at Unsignalized Intersections under Mixed Traffic
AI总结：
本文提出了一种方法，使联网自动驾驶车辆在与人类驾驶车辆共存的无信号交叉口确定通过优先级，通过分布式共识算法解决同时到达车辆的优先级冲突，确保安全性和活锁性。
摘要：
我们提出了一种方法，使联网自动驾驶车辆（CAVs）在与人类驾驶车辆（HVs）共存的无信号交叉口确定其通过优先级。假设CAVs可以利用计算机视觉技术感知周围车辆的进入顺序，并能够避免碰撞，我们引入了一种基于投票的分布式共识算法，灵感来自Raft，以解决同时到达CAVs之间的优先级冲突。该算法围绕候选者和领导者选举过程构建，并结合最小共识准备注入，以确保在典型的异步通信条件下，CAVs的安全性和活锁性。假设CAVs为SAE（美国汽车工程师协会）4级或更高自主车辆，我们使用gRPC实现了所提出的分布式共识算法。通过调整变量，如CAV到HV的比例、交叉口规模和计算机视觉模块的处理时间，我们证明了即使在包含HVs的混合交通条件下，也能实现稳定的共识。实验结果表明，所提出的算法在典型的无信号四向两车道交叉口上，平均在30-40毫秒内达到共识。在不可靠的车对车通信网络上共识过程超时时，采用二次基于视觉的系统，根据识别出的车牌号码的字典顺序完成交叉优先级。本研究的重要性在于其能够通过分布式共识快速确定通过优先级，从而改善无信号交叉口的交通流，即使在混合交通中有故障车辆的情况下。
英文摘要：
We propose a methodology for connected autonomous vehicles (CAVs) to determine their passing priority at unsignalized intersections where they coexist with human-driven vehicles (HVs). Assuming that CAVs can perceive the entry order of surrounding vehicles using computer vision technology and are capable of avoiding collisions, we introduce a voting-based distributed consensus algorithm inspired by Raft to resolve tie-breaking among simultaneously arriving CAVs. The algorithm is structured around the candidate and leader election processes and incorporates a minimal consensus quorum to ensure both safety and liveness among CAVs under typical asynchronous communication conditions. Assuming CAVs to be SAE (Society of Automotive Engineers) Level-4 or higher autonomous vehicles, we implemented the proposed distributed consensus algorithm using gRPC. By adjusting variables such as the CAV-to-HV ratio, intersection scale, and the processing time of computer vision modules, we demonstrated that stable consensus can be achieved even under mixed-traffic conditions involving HVs without adequate functionalities to interact with CAVs. Experimental results show that the proposed algorithm reached consensus at a typical unsignalized four-way, two-lane intersection in approximately 30-40 ms on average. A secondary vision-based system is employed to complete the crossing priorities based on the recognized lexicographical order of the license plate numbers in case the consensus procedure times out on an unreliable vehicle-to-vehicle communication network. The significance of this study lies in its ability to improve traffic flow at unsignalized intersections by enabling rapid determination of passing priority through distributed consensus even under mixed traffic with faulty vehicles.
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