| 摘要 |
A method for use in vehicles using lanes of an automated highway to avoid collisions with obstacles. A set of decision rules are embodied in a processor that are used in each vehicle to determine whether affected vehicles should change lanes or brake to minimize the expected impact with an obstacle. The presence of an obstacle in one of the lanes is detected by a lead vehicle or by sensors on the highway. The processor in the lead vehicle, or at a traffic management facility, probabilistically estimates the position of the obstacle at each of a plurality of times subsequent to detection. At each of the times, a course of action for all affected vehicles is determined by the processor in the lead vehicle based upon the best current estimate of position of the obstacle, knowledge of any previous action that has been taken, positions and velocities of the affected vehicles, and the geometry of the highway. At each of the times, each of the affected vehicles is commanded to perform an avoidance maneuver that is coordinated with the other affected vehicles, wherein affected vehicles brake and change lanes to avoid collision with the obstacle and with other vehicles. At each of the times, commands are sent to each affected vehicle that cause them to perform hard braking, light braking, maintain speed, resume previous speed, perform a lane change, abort a lane change or create a gap, so as to minimize the impact of the vehicles with the obstacle.
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