Abstract
In the current traffic rules, cars have to move along lanes and to stop at red traffic lights. However, in the future when all cars become completely driverless, these traffic rules may vanish and cars may be allowed to move freely on two-dimensional plane by avoiding others like pedestrian flow. This innovation could greatly reduce traffic jams. In this study, we propose a decentralized control scheme for future self-driving cars that can freely move on two-dimensional plane, based on the social force model widely used as the model of pedestrian flow. The performance of the proposed scheme is validated via simulation. Although this study is still conceptual and does not consider realistic details, we believe that it paves the way to developing novel traffic systems.
Highlights
Technologies for self-driving cars have been developed within the framework of the conventional traffic rules in which cars have to move along lanes and to stop at red traffic lights
We propose a decentralized control scheme for future self-driving cars that can freely move on two-dimensional plane
We proposed a decentralized control scheme for future in (a), (b), and (c), respectively
Summary
Technologies for self-driving cars have been developed within the framework of the conventional traffic rules in which cars have to move along lanes and to stop at red traffic lights. We propose a decentralized control scheme for future self-driving cars that can freely move on two-dimensional plane. Whereas the social force originates from psychological effect, i.e., desire to avoid others, in the case of pedestrian flow [1,2], it is redefined as the control input to self-driving cars and is designed based on the. The social force (control input) in the proposed model is calculated according to the following 4 steps (fisiioi ccan be calculated in a similar manner as fisiiioc): Step 1: Each car detects the relative position and velocity of cars within the distance from itself every time interval. The first and second terms on the right-hand side in Eq (3) denote the exclusive volume effect and the avoidance force based on the prediction, respectively. Note that the proposed model is consistent with the original social force model [1,2] when and
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