Function allocation for automated driving systems
Provided herein is technology relating to intelligent transportation systems and automated vehicles and particularly, but not exclusively, to function allocation systems and methods for a connected automated vehicle highway system that provides transportation management and operations and vehicle control for connected and automated vehicles.
1. A function allocation system (FAS) comprising:
a communication module;
a data module; and
a computing module,
wherein said FAS is configured to perform a function allocation method comprising:
analyzing a scene;
analyzing system functional demands, wherein analyzing system functional demands comprises constructing a required feature set {B n , C w }, where B n represents a control level and C w represents a function feature; and
constructing a scene requirement feature set S m,n,w ={A m , B n , C w }, where A m represents a sub-scene, B n represents said control level, and C w represents said function feature;
analyzing system functional restrictions;
determining a function allocation using a function demand-constraint matching algorithm; and
allocating sensing functions, decision-making functions, and control functions to a connected automated vehicle (CAV) system and to a connected automated highway (CAH) system according to said function allocation.
2. The FAS of claim 1 , wherein said FAS is configured to allocate sensing functions, decision-making functions, and control functions to said CAV system having a vehicle intelligence level V and to said CAH system having an infrastructure intelligence level I to provide a system intelligence level S for said CAVH system to manage automated driving.
3. The FAS of claim 1 , configured to provide a collaborative sensing function, a collaborative decision-making function, and a collaborative control function to said CAVH system.
4. The FAS of claim 1 , wherein said FAS allocates more of said control functions and/or more of said decision-making functions to said CAH system than to said CAV system.
5. The FAS of claim 1 , wherein analyzing a scene comprises dividing a main scene A into multiple sub-scenes {A 1 , A 2 , A 3 , A 4 }, where A 1 represents road facility characteristics of a road in the main scene; A 2 represents road geometry characteristics of the road in the scene; A 3 represents traffic flow characteristics of the road in the scene; and A 4 represents weather characteristics of the road in the scene.
6. The FAS of claim 1 , wherein analyzing system functional restrictions comprises analyzing functional limitations of the CAH system for a sub-scene; constructing a limitation function I m,n,w of the CAH system for said sub-scene; analyzing functional limitations of the CAV system for said sub-scene; and constructing a limitation function V m,n,w of the CAV system for said sub-scene.
7. The FAS of claim 1 , wherein determining a function allocation using a function demand-constraint matching algorithm comprises:
calculating a function of limitation vectors K A,n,w ;
calculating a limitation function of the CAH system for a main scene A: F(I) A,n,w ;
calculating a limitation function of the CAV system for the main scene A: F(V) A,n,w ; and
providing a function allocation to provide automated driving for CAV in the main scene A according to:
scheme
=
{
CAV
system
priority
,
F
(
V
)
A
,
n
,
w
=
0
CAH
system
priority
,
F
(
V
)
A
,
n
,
w
≠
0
and
F
(
I
)
A
,
n
,
w
=
0
Driver
priority
,
F
(
V
)
A
,
n
,
w
≠
0
and
F
(
I
)
A
,
n
,
w
≠
0
.
8. A function allocation system (FAS) comprising:
a communication module;
a data module; and
a computing module,
wherein said FAS is configured to perform a function allocation method comprising:
analyzing a scene;
analyzing system functional demands;
analyzing system functional restrictions, wherein analyzing system functional restrictions comprises analyzing functional limitations of the CAH system for a sub-scene; constructing a limitation function I m,n,w of the CAH system for said sub-scene; analyzing functional limitations of the CAV system for said sub-scene; and constructing a limitation function V m,n,w of the CAV system for said sub-scene;
determining a function allocation using a function demand-constraint matching algorithm; and
allocating sensing functions, decision making functions, and control functions to a connected automated vehicle (CAV) system and to a connected automated highway (CAH) system according to said function allocation.
9. The FAS of claim 8 , wherein said FAS is configured to allocate sensing functions, decision-making functions, and control functions to said CAV system having a vehicle intelligence level V and to said CAH system having an infrastructure intelligence level I to provide a system intelligence level S for said CAVH system to manage automated driving.
10. The FAS of claim 8 , configured to provide a collaborative sensing function, a collaborative decision-making function, and a collaborative control function to said CAVH system.
11. The FAS of claim 8 , wherein said FAS allocates more of said control functions and/or more of said decision-making functions to said CAH system than to said CAV system.
12. The FAS of claim 8 , wherein analyzing a scene comprises dividing a main scene A into multiple sub-scenes {A 1 , A 2 , A 3 , A 4 }, where A 1 represents road facility characteristics of a road in the main scene; A 2 represents road geometry characteristics of the road in the scene; A 3 represents traffic flow characteristics of the road in the scene; and A 4 represents weather characteristics of the road in the scene.
13. The FAS of claim 8 , wherein analyzing system functional demands comprises constructing a required feature set {B n , C w }, where By represents a control level and C w represents a function feature; and constructing a scene requirement feature set S m,n,w ={A m , B n , C w }, where A m represents a sub-scene, B n represents said control level, and C w represents said function feature.
14. The FAS of claim 8 , wherein determining a function allocation using a function demand-constraint matching algorithm comprises:
calculating a function of limitation vectors K A,n,w ;
calculating a limitation function of the CAH system for a main scene A: F(I) A,n,w ;
calculating a limitation function of the CAV system for the main scene A: F(V) A,n,w ; and
providing a function allocation to provide automated driving for CAV in the main scene A according to:
scheme
=
{
CAV
system
priority
,
F
(
V
)
A
,
n
,
w
=
0
CAH
system
priority
,
F
(
V
)
A
,
n
,
w
≠
0
and
F
(
I
)
A
,
n
,
w
=
0
Driver
priority
,
F
(
V
)
A
,
n
,
w
≠
0
and
F
(
I
)
A
,
n
,
w
≠
0
.
15. A function allocation system (FAS) comprising:
a communication module;
a data module; and
a computing module,
wherein said FAS is configured to perform a function allocation method comprising:
analyzing a scene;
analyzing system functional demands;
analyzing system functional restrictions;
determining a function allocation using a function demand-constraint matching algorithm, wherein determining a function allocation using a function demand-constraint matching algorithm comprises:
calculating a function of limitation vectors K A,n,w ;
calculating a limitation function of the CAH system for a main scene A: F(I) A,n,w ;
calculating a limitation function of the CAV system for the main scene A: F(V) A,n,w ; and
providing a function allocation to provide automated driving for CAV in the main scene A according to:
scheme
=
{
CAV
system
priority
,
F
(
V
)
A
,
n
,
w
=
0
CAH
system
priority
,
F
(
V
)
A
,
n
,
w
≠
0
and
F
(
I
)
A
,
n
,
w
=
0
Driver
priority
,
F
(
V
)
A
,
n
,
w
≠
0
and
F
(
I
)
A
,
n
,
w
≠
0
;
and allocating sensing functions, decision making functions, and control functions to a connected automated vehicle (CAV) system and to a connected automated highway (CAH) system according to said function allocation.
16. The FAS of claim 15 , wherein said FAS is configured to allocate sensing functions, decision-making functions, and control functions to said CAV system having a vehicle intelligence level V and to said CAH system having an infrastructure intelligence level I to provide a system intelligence level S for said CAVH system to manage automated driving.
17. The FAS of claim 15 , configured to provide a collaborative sensing function, a collaborative decision-making function, and a collaborative control function to said CAVH system.
18. The FAS of claim 15 , wherein said FAS allocates more of said control functions and/or more of said decision making functions to said CAH system than to said CAV system.
19. The FAS of claim 15 , wherein said CAH system comprises a sensing module, a decision making module, a control module, and a communication module.
20. The FAS of claim 15 , wherein said CAV system comprises a sensing module, a decision-making module, a control module, and a communication module.
21. The FAS of claim 15 , wherein analyzing a scene comprises dividing a main scene A into multiple sub-scenes {A 1 , A 2 , A 3 , A 4 }, where A 1 represents road facility characteristics of a road in the main scene; A 2 represents road geometry characteristics of the road in the scene; A 3 represents traffic flow characteristics of the road in the scene; and A 4 represents weather characteristics of the road in the scene.
22. The FAS of claim 15 , wherein analyzing system functional demands comprises constructing a required feature set {B n , C w }, where By represents a control level and C w represents a function feature; and constructing a scene requirement feature set S m,n,w ={A m , B n , C w }, where A m represents a sub-scene, B n represents said control level, and C w represents said function feature.
23. The FAS of claim 15 , wherein analyzing system functional restrictions comprises analyzing functional limitations of the CAH system for a sub-scene; constructing a limitation function I m,n,w of the CAH system for said sub-scene; analyzing functional limitations of the CAV system for said sub-scene; and constructing a limitation function V m,n,w of the CAV system for said sub-scene.
24. The FAS of claim 15 , further comprising repeating the function allocation method when a main scene A changes.
25. A CAVH system comprising a connected automated highway (CAH) system, a connected automated vehicle (CAV) system, and a function allocation system (FAS) of claim 15 .
26. A method of managing traffic and/or controlling CAV, said method comprising providing a FAS according to claim 15 .