标题： 一种用于交叉路口通行的鲁棒协同车辆协调框架 显示英文标题

标题： A Robust Cooperative Vehicle Coordination Framework for Intersection Crossing

摘要： 在无信号交叉口的协同车辆协调方面，近年来学术界和工业界都给予了广泛关注，这凸显了其在提高交通吞吐量和燃油效率方面的显著优势。 然而，大多数现有研究过于简化了协调系统，假设车辆状态信息准确且状态更新过程理想。 这些疏忽在存在状态不确定性与通信限制的情况下会带来驾驶风险。 为解决这一问题，我们提出了一种鲁棒且全面的交叉口协调框架，包括一个鲁棒的协同轨迹规划器和一个上下文感知的状态更新调度器。 轨迹规划器直接控制频繁车辆交互过程中轨迹分布的演变，从而提供概率安全性保证。 为了进一步适应实际带宽受限条件下的协调安全，我们提出了一种上下文感知的状态更新调度器，该调度器根据车辆的驾驶紧迫性动态优先排序车辆的状态更新顺序。 仿真结果验证了所提出的协调框架的鲁棒性和有效性，表明在保持与最先进策略相当的协调效率的同时，可以显著降低碰撞概率。 此外，我们的框架在实际不确定和带宽受限条件下表现出更优的无线资源利用效果。 显示英文摘要

摘要： Cooperative vehicle coordination at unsignalized intersections has garnered significant interest from both academia and industry in recent years, highlighting its notable advantages in improving traffic throughput and fuel efficiency. However, most existing studies oversimplify the coordination system, assuming accurate vehicle state information and ideal state update process. The oversights pose driving risks in the presence of state uncertainty and communication constraint. To address this gap, we propose a robust and comprehensive intersection coordination framework consisting of a robust cooperative trajectory planner and a context-aware status update scheduler. The trajectory planner directly controls the evolution of the trajectory distributions during frequent vehicle interactions, thereby offering probabilistic safety guarantees. To further align with coordination safety in practical bandwidth-limited conditions, we propose a context-aware status update scheduler that dynamically prioritizes the state updating order of vehicles based on their driving urgency. Simulation results validate the robustness and effectiveness of the proposed coordination framework, showing that the collision probability can be significantly reduced while maintaining comparable coordination efficiency to state-of-theart strategies. Moreover, our proposed framework demonstrates superior effectiveness in utilizing wireless resources in practical uncertain and bandwidth-limited conditions.