论文标题
自动驾驶汽车的协调：分类和调查
Coordination of Autonomous Vehicles: Taxonomy and Survey
论文作者
论文摘要
在不久的将来，我们的街道将由无数自动驾驶的自动驾驶汽车填充，以满足我们多样化的出行需求。这将提出协调其运动的需求，以便正确处理对共享资源（例如，交叉点和停车位）的访问权限以及移动任务的执行（例如，增加和坡道合并）。在本文中，我们首先介绍了与自动驾驶汽车协调相关的一般问题，通过识别和构建协调问题的关键类别。随后，我们概述了可以通过根据协调过程中的决策程度对它们进行自治的程度来对它们进行分类的不同方法来管理此类协调问题。最后，我们概述了一些进一步的特殊挑战，这些挑战必须在自主协调的车辆安全地撞到我们的街道之前必须解决。
In the near future, our streets will be populated by myriads of autonomous self-driving vehicles to serve our diverse mobility needs. This will raise the need to coordinate their movements in order to properly handle both access to shared resources (e.g., intersections and parking slots) and the execution of mobility tasks (e.g., platooning and ramp merging). In this paper, we firstly introduce the general issues associated to coordination of autonomous vehicles, by identifying and framing the key classes of coordination problems. Following, we overview the different approaches that can be adopted to manage such coordination problems, by classifying them in terms of the degree of autonomy in decision making that is left to autonomous vehicles during coordination. Finally, we overview some further peculiar challenges that research will have to address before autonomously coordinated vehicles can safely hit our streets.
