Hybrid System Stability Analysis of Multilane Mixed-Autonomy Traffic

Autonomous vehicles (AVs) hold vast potential to enhance transportation systems by reducing congestion, improving safety, and lowering emissions. AV controls lead to emergent traffic phenomena; one such intriguing phenomenon is traffic breaks (rolling roadblocks), where a single AV efficiently stabi...

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Bibliographic Details
Published in:IEEE transactions on robotics 2024, Vol.40, p.4469-4489
Main Authors: Li, Sirui, Dong, Roy, Wu, Cathy
Format: Article
Language:English
Subjects:
Asymptotic stability
Autonomous agents
Control systems
hybrid logical/dynamical planning and verification
hybrid systems
Intelligent transportation systems
Numerical analysis
Safety
Stability analysis
Vehicle dynamics
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Summary:Autonomous vehicles (AVs) hold vast potential to enhance transportation systems by reducing congestion, improving safety, and lowering emissions. AV controls lead to emergent traffic phenomena; one such intriguing phenomenon is traffic breaks (rolling roadblocks), where a single AV efficiently stabilizes multiple lanes through frequent lane switching, similar to the highway patrolling officers weaving across multiple lanes during difficult traffic conditions. While previous theoretical studies focus on single-lane mixed-autonomy systems, this work proposes a stability analysis framework for multilane systems under AV controls. Casting this problem into the hybrid system paradigm, the proposed analysis integrates continuous vehicle dynamics and discrete jumps from AV lane-switches. Through examining the influence of the lane-switch frequency on the system's stability, the analysis offers a principled explanation of the traffic break phenomenon, and further discovers opportunities for less-intrusive traffic smoothing by employing less frequent lane-switching. The analysis further facilitates the design of traffic-aware AV lane-switch strategies to enhance system stability. Numerical analysis reveals a strong alignment between the theory and simulation, validating the effectiveness of the proposed stability framework in analyzing multilane mixed-autonomy traffic systems.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2024.3443504