论文标题
故障的自动驾驶汽车的实时决策
Real-time decision-making for autonomous vehicles under faults
论文作者
论文摘要
本文解决了运输任务中有缺陷的自动驾驶汽车决策的挑战。考虑维护管理的车辆路由计划的实时决策问题是一种优化问题。目的是通过选择最佳研讨会来进行维护和相应的路线来最大程度地减少完成运输任务的总时间。提出了两种基于基本解决方案的两种方法解决优化问题的方法：（1）混合整数编程； （2）Dijkstra的算法。我们适应这些方法来解决优化问题并考虑提高计算效率。提出了公路和城市场景测试案例的数值研究，以证明所提出的方法，这些方法表明了这两种方法的可行性和高计算效率。
This paper addresses the challenges of decision-making for autonomous vehicles under faults during a transport mission. A real-time decision-making problem of vehicle routing planning considering maintenance management is formulated as an optimization problem. The goal is to minimize the total time to finish the transport mission by selecting the optimal workshop to conduct the maintenance and the corresponding routes. Two methods are proposed to solve the optimization problem based on two methods of fundamental solutions: (1) Mixed Integer Programming; (2) Dijkstra's algorithm. We adapt these methods to solve the optimization problem and consider improving the computation efficiency. Numerical studies of test cases of highway and urban scenarios are presented to demonstrate the proposed methods, which show the feasibility and high computational efficiency of both methods.
