Systems and methods for swarm invitation based on social values
Systems and methods for swarm invitation based on social values are provided. In one embodiment, a method includes calculating a total disruption value of a proximate vehicle on a roadway with a plurality of swarm vehicles of a swarm on the roadway. The total disruption value of the proximate vehicle is based on a velocity disruption value of the proximate vehicle and a position disruption value of the proximate vehicle. The method also includes determining a proximate social alignment value of the proximate vehicle based on a comparison of the total disruption value to a threshold disruption value. The threshold disruption value is based on a desired social alignment value of the swarm. The method yet further includes sending a swarm request to the proximate vehicle when the proximate social alignment value corresponding to the desired social alignment value.
1 . A system for swarm invitation based on social values, comprising:
a processor; and
a memory storing instructions that when executed by the processor cause the processor to:
calculate a total disruption value of a proximate vehicle on a roadway with a plurality of swarm vehicles of a swarm on the roadway, wherein the proximate vehicle and the swarm vehicles of the swarm are roadway vehicles traveling in the same longitudinal direction on the roadway, wherein the total disruption value of the proximate vehicle is based on a velocity disruption value of the proximate vehicle and a position disruption value of the proximate vehicle, and wherein the velocity disruption value is based on a velocity differential between a proximate vehicle velocity and traffic velocity that is an average velocity of the roadway vehicles;
determine a proximate social alignment value of the proximate vehicle based on a comparison of the total disruption value to a threshold disruption value, wherein the threshold disruption value is based on a desired social alignment value of the swarm; and
send a swarm request to the proximate vehicle when the proximate social alignment value corresponds to the desired social alignment value.
2 . The system of claim 1 , wherein the position disruption value is based on a position differential of the proximate vehicle from in a first iteration from a first time to a second time, wherein the position differential is based on an observed position of the proximate vehicle at the second time relative to an expected position of the proximate vehicle at the second time in a predicted trajectory based on a flow velocity of the roadway vehicles.
3 . The system of claim 1 , wherein the total disruption value of the proximate vehicle is a first total disruption value that corresponds to a first iteration, and the instructions further cause the processor to calculate a second total disruption value for a second iteration, from a second time to a third time.
4 . The system of claim 3 , wherein the proximate social alignment value is a first proximate social alignment value that does not correspond to the desired social alignment value, wherein the instructions further cause the processor to determine a second proximate social alignment value based on the second total disruption value.
5 . The system of claim 4 , wherein the second proximate social alignment value corresponds to the desired social alignment value.
6 . The system of claim 1 , wherein the proximate social alignment value calculated to result in a binary allocation of the proximate vehicle as exhibiting an egotistic social alignment value or an altruistic social alignment value.
7 . The system of claim 1 , wherein the position disruption value is based on a position differential of the proximate vehicle from a first iteration from a first time to a second time, wherein the position differential is based on an observed position of the proximate vehicle at the second time relative to an expected position of the proximate vehicle at the second time in a predicted trajectory based on a flow velocity of the roadway vehicles, and wherein the proximate social alignment value is a first proximate social alignment value that does not correspond to the desired social alignment value, and wherein the processor is further caused to determine a second proximate social alignment value based on a second total disruption value, wherein the second proximate social alignment value corresponds to the desired social alignment value.
8 . A computer-implemented method for swarm invitation based on social values, comprising:
calculating a total disruption value of a proximate vehicle on a roadway with a plurality of swarm vehicles of a swarm on the roadway, wherein the proximate vehicle and the swarm vehicles of the swarm are roadway vehicles traveling in the same longitudinal direction on the roadway, wherein the total disruption value of the proximate vehicle is based on a velocity disruption value of the proximate vehicle and a position disruption value of the proximate vehicle, and wherein the velocity disruption value is based on a velocity differential between a proximate vehicle velocity and traffic velocity that is an average velocity of the roadway vehicles;
determining a proximate social alignment value of the proximate vehicle based on a comparison of the total disruption value to a threshold disruption value, wherein the threshold disruption value is based on a desired social alignment value of the swarm; and
sending a swarm request to the proximate vehicle when the proximate social alignment value corresponding to the desired social alignment value.
9 . The computer-implemented method of claim 8 , wherein the position disruption value is based on a position differential of the proximate vehicle from in a first iteration from a first time to a second time, wherein the position differential is based on an observed position of the proximate vehicle at the second time relative to an expected position of the proximate vehicle at the second time in a predicted trajectory based on a flow velocity of the roadway vehicles.
10 . The computer-implemented method of claim 8 , wherein the total disruption value of the proximate vehicle is a first total disruption value that corresponds to a first iteration, and wherein the computer-implemented method further comprises:
calculating a second total disruption value for a second iteration, from a second time to a third time.
11 . The computer-implemented method of claim 10 , wherein the proximate social alignment value is a first proximate social alignment value that does not correspond to the desired social alignment value, wherein the computer-implemented method further comprises:
determining a second proximate social alignment value based on the second total disruption value.
12 . The computer-implemented method of claim 11 , wherein the second proximate social alignment value corresponds to the desired social alignment value.
13 . The computer-implemented method of claim 8 , wherein the proximate social alignment value calculated to result in a binary allocation of the proximate vehicle as exhibiting an egotistic social alignment value or an altruistic social alignment value.
14 . The computer-implemented method of claim 8 , wherein the position disruption value is based on a position differential of the proximate vehicle from a first iteration from a first time to a second time, wherein the position differential is based on an observed position of the proximate vehicle at the second time relative to an expected position of the proximate vehicle at the second time in a predicted trajectory based on a flow velocity of the roadway vehicles, and wherein the proximate social alignment value calculated to result in a binary allocation of the proximate vehicle as exhibiting an egotistic social alignment value or an altruistic social alignment value.
15 . A non-transitory computer readable storage medium storing instructions that when executed by a computer having a processor perform a method for swarm invitation based on social values, the method comprising:
calculating a total disruption value of a proximate vehicle on a roadway with a plurality of swarm vehicles of a swarm on the roadway, wherein the proximate vehicle and the swarm vehicles of the swarm are roadway vehicles traveling in the same longitudinal direction on the roadway, wherein the total disruption value of the proximate vehicle is based on a velocity disruption value of the proximate vehicle and a position disruption value of the proximate vehicle, and wherein the velocity disruption value is based on a velocity differential between a proximate vehicle velocity and traffic velocity that is an average velocity of the roadway vehicles;
determining a proximate social alignment value of the proximate vehicle based on a comparison of the total disruption value to a threshold disruption value, wherein the threshold disruption value is based on a desired social alignment value of the swarm; and
sending a swarm request to the proximate vehicle when the proximate social alignment value corresponding to the desired social alignment value.
16 . The non-transitory computer readable storage medium of claim 15 , wherein the position disruption value is based on a position differential of the proximate vehicle from in a first iteration from a first time to a second time, wherein the position differential is based on an observed position of the proximate vehicle at the second time relative to an expected position of the proximate vehicle at the second time in a predicted trajectory based on a flow velocity of the roadway vehicles.
17 . The non-transitory computer readable storage medium of claim 2 , wherein the proximate social alignment value calculated to result in a binary allocation of the proximate vehicle as exhibiting an egotistic social alignment value or an altruistic social alignment value.
18 . The non-transitory computer readable storage medium of claim 15 , wherein the total disruption value of the proximate vehicle is a first total disruption value that corresponds to a first iteration, and wherein the method further comprises:
calculating a second total disruption value for a second iteration, from a second time to a third time.
19 . The non-transitory computer readable storage medium of claim 18 , wherein the proximate social alignment value is a first proximate social alignment value that does not correspond to the desired social alignment value, wherein the method further comprises:
determining a second proximate social alignment value based on the second total disruption value, wherein the second proximate social alignment value corresponds to the desired social alignment value.
20 . The non-transitory computer readable storage medium of claim 15 , wherein the position disruption value is based on a position differential of the proximate vehicle from a first iteration from a first time to a second time, wherein the position differential is based on an observed position of the proximate vehicle at the second time relative to an expected position of the proximate vehicle at the second time in a predicted trajectory based on a flow velocity of the roadway vehicles, and wherein the method further comprises determining a second proximate social alignment value based on a second total disruption value, wherein the second proximate social alignment value corresponds to the desired social alignment value.