Systems and methods for connected and automated vehicle highway systems dedicated lane management and control
Provided herein is technology relating to roadway design and traffic control systems and methods for connected and automated vehicle and highway (CAVH) systems, and particularly, but not exclusively, to systems and methods for controlling switching of vehicles between automated mode and human-driven mode, systems and methods for vehicle merging, diverging, and overtaking on automated lanes of multiple lane highways, systems and methods for emergency management and roadside assistance on automated lanes, and/or systems and methods for managing automated vehicle lanes on urban major and minor expressways.
1. A method of mode switching for an automated vehicle (AV), the method comprising:
providing an AV identification detector at an entrance of an automated driving lane;
sending a mode switching request from an AV to a road design and traffic control system;
determining by the AV identification detector if the AV meets a requirement for switching from a human-driven mode to an automated driving mode; and
controlling by a connected and automated vehicle highway (CAVH) system the AV to accelerate or decelerate through the buffer zone to the automated lane.
2. The method of claim 1 , wherein the AV is in a mode switching zone of the road design and traffic control system when the AV sends the mode switching request.
3. The method of claim 1 , wherein the mode switching request comprises a request to switch from a human driven mode to an automated mode.
4. The method of claim 3 , wherein the method further comprises:
determining by the road design and traffic control system if the AV approaching an automated lane meets a requirement for mode switching from a human-driven mode to an automated mode.
5. The method of claim 4 , further comprising providing an “access allowed” signal if the approaching AV meets the requirement for mode switching from a human-driven mode to an automated mode or providing an “access denied” signal if the approaching AV does not meet the requirement for mode switching from a human-driven mode to an automated mode.
6. The method of claim 4 , wherein, if the AV does not meet the requirement for mode switching from a human-driven mode to an automated mode, then further comprising identifying by the AV or road design and traffic control system an exit from the automated lane; controlling the AV by the CAVH system to drive through a buffer zone and mode switching zone; exiting the automated lane; and entering the human-driven lane.
7. The method of claim 4 , further comprising determining by the CAVH system a real-time location and velocity information of the AV; and providing control instructions from the CAVH system to the AV for merging into the automated lane.
8. The method of claim 7 , wherein providing control instructions from the CAVH system to the AV comprises providing the control instructions from a roadside unit of the CAVH system to an onboard unit of the AV.
9. The method of claim 4 , wherein the buffer zone is a road segment comprising at least a portion of the automated lane and at least a portion of a human-driven lane.
10. The method of claim 4 , wherein the requirement for mode switching from a human-driven mode to an automated mode is that the CAVH system is able to control the AV.
11. The method of claim 4 , wherein the requirement for mode switching from a human-driven mode to an automated mode comprises assessing a vehicle automation level of the AV, a speed of the AV, hardware of the AV, and software of the AV.
12. The method of claim 4 , wherein the mode switching request comprises a request to switch from an automated mode to a human-driven mode.
13. The method of claim 12 , wherein the method further comprises:
determining by the road design and traffic control system if an AV exiting an automated lane meets a requirement for mode switching from an automated mode to a human-driven mode; and
if the AV meets the requirement for mode switching from an automated mode to a human-driven mode, then controlling the AV by the CAVH system to enter a mode switching zone, guiding the AV to exit the automated lane through a buffer zone to enter a human-driven lane, and transferring control of the AV to a human driver.
14. The method of claim 13 , wherein the requirement for mode switching from an automated mode to a human-driven mode is that the AV may be driven by a human driver of the AV.
15. The method of claim 1 , further comprising switching modes by the AV from a human driven mode to an automated mode or from an automated mode to a human-driven mode.
16. The method of claim 15 , wherein the AV is in a mode switching zone when switching modes.
17. The method of claim 16 , further comprising driving from a human-driven lane through a buffer zone to an automated lane or driving from an automated lane through a buffer zone to a human-driven lane.
18. The method of claim 17 , wherein the buffer zone is a road segment comprising at least a portion of the automated lane and at least a portion of the human-driven lane and having a length provided by
L
h
=
v
in
τ
85
+
❘
"\[LeftBracketingBar]"
v
i
n
2
-
v
o
u
t
2
❘
"\[RightBracketingBar]"
2
a
a
ν
g
where L h is the buffer zone length, v in is the maximum speed when entering the buffer zone, v out is the minimum speed to leave the buffer zone, a avg is the average acceleration of a vehicle, and τ 85 is an 85% reaction time for a driver.
19. The method of claim 17 , wherein the mode switching zone is a road segment having a length provided by
L 2 =v·τ 85
where L 2 is the length of the mode switching zone, v is a vehicle speed, and τ 85 is an 85% reaction time for a driver.