As autonomous vehicle technology advances rapidly, the design and operation of networks composed of fully autonomous vehicles have attracted immense interest. It is widely anticipated that fully autonomous vehicle networks will drastically improve performance. In this paper, we consider a widely studied problem, in which autonomous vehicles arriving at an intersection adjust their speeds to traverse the intersection as rapidly as possible, while avoiding collisions. We propose a coordination control algorithm, assuming stochastic models for the arrival times of the vehicles. The proposed algorithm extends the widely studied polling systems analysis to the case involving customers subject to second-order differential constraints. We provide provable guarantees on 1) safety, no collisions occur surely, and 2) performance, rigorous bounds on the expected delay. We also provide a stability analysis for the resulting queueing system. We demonstrate the algorithm in an extensive simulation study, providing one to two orders of magnitude improvement in delays over the traditional traffic light.

中文翻译：

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无交通信号的交通路口基于轮询系统的自动车辆协调


随着自动驾驶汽车技术的快速发展，由全自动汽车组成的网络的设计和运营引起了人们的极大兴趣。人们普遍预计全自动车辆网络将大幅提高性能。在本文中，我们考虑了一个广泛研究的问题，即到达十字路口的自动驾驶车辆调整速度以尽可能快地穿过十字路口，同时避免碰撞。我们提出了一种协调控制算法，假设车辆到达时间的随机模型。所提出的算法将广泛研究的轮询系统分析扩展到涉及受二阶微分约束的客户的情况。我们提供可证明的保证：1) 安全性，确保不会发生碰撞；2) 性能，对预期延迟的严格限制。我们还为最终的排队系统提供稳定性分析。我们在广泛的模拟研究中演示了该算法，与传统交通灯相比，延迟时间提高了一到两个数量级。