arXiv:2510.21736cs.ROcs.AI2025-10

用神经网络让自动驾驶车更懂交通规则,减少拥堵省油。

Learn2Drive: A neural network-based framework for socially compliant automated vehicle control

  • 用LSTM加物理约束建模,让自动驾驶车考虑人类车辆互动。
  • 切换控制目标后,后车平均速度提升38.39%,能耗最多增58.99%。
  • 适合关注智能交通与系统效率的研究者和工程师。

本研究提出一种基于神经网络的自适应巡航控制(ACC)新框架,结合长短期记忆(LSTM)网络与物理信息约束。随着自动驾驶车辆(AV)引入高级功能如ACC,交通系统正变得日益智能高效。然而,现有控制策略多聚焦于单个车辆或车队性能优化,忽视其对人类驾驶车辆(HV)及整体交通流的影响,可能导致拥堵加剧、系统效率下降。为填补这一关键空白,本文提出一种社会合规的自动驾驶控制框架,引入社会价值取向(SVO)。该框架使AV能够考虑自身对HV及交通动态的影响。通过将AV视为移动交通调节器,所提方法促进适应性驾驶行为,降低拥堵、提升交通效率并减少能耗。框架中定义了AV与HV的效用函数,根据各AV的SVO进行优化,平衡个体目标与整体交通需求。数值结果表明,当AV控制模式从节能转向优化交通流效率时,后方车队中车辆个体能耗至少增加58.99%,平均速度至少提升38.39%,显著改善交通动态表现。

原文摘要 · Abstract (English)

This study introduces a novel control framework for adaptive cruise control (ACC) in automated driving, leveraging Long Short-Term Memory (LSTM) networks and physics-informed constraints. As automated vehicles (AVs) adopt advanced features like ACC, transportation systems are becoming increasingly intelligent and efficient. However, existing AV control strategies primarily focus on optimizing the performance of individual vehicles or platoons, often neglecting their interactions with human-driven vehicles (HVs) and the broader impact on traffic flow. This oversight can exacerbate congestion and reduce overall system efficiency. To address this critical research gap, we propose a neural network-based, socially compliant AV control framework that incorporates social value orientation (SVO). This framework enables AVs to account for their influence on HVs and traffic dynamics. By leveraging AVs as mobile traffic regulators, the proposed approach promotes adaptive driving behaviors that reduce congestion, improve traffic efficiency, and lower energy consumption. Within this framework, we define utility functions for both AVs and HVs, which are optimized based on the SVO of each AV to balance its own control objectives with broader traffic flow considerations. Numerical results demonstrate the effectiveness of the proposed method in adapting to varying traffic conditions, thereby enhancing system-wide efficiency. Specifically, when the AV's control mode shifts from prioritizing energy consumption to optimizing traffic flow efficiency, vehicles in the following platoon experience at least a 58.99% increase in individual energy consumption alongside at least a 38.39% improvement in individual average speed, indicating significant enhancements in traffic dynamics.

自动驾驶交通优化神经网络

Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品;中文卡片由大模型生成,请以原文为准。