Sithumele ukuqinisa ukuqinisa (RL) -Izimoto ezihlanganisiwe zibe yithrafikhi ephezulu yehora lokuhamba ngehora lokuxinana nokunciphisa ukusetshenziswa kwamafutha kuwo wonke umuntu. Umgomo wethu ukubhekana namagagasi athi “Stop-and-Go”, lezo zinto ezishubile kanye namashevu avame ukungabi nangeso sizathu esicacile kepha kuholela ekuxinekeni nasekudoti kwamandla aphansi. Ukuqeqesha abalawuli abahle ababushelelezi, sakha ukumbumbuluzwa okusheshayo, okuqhutshwa idatha ama-rl agents axhumana nawo, afunde ukukhulisa ukusebenza kahle kwamandla ngenkathi egcina ukuphenduka amandla futhi asebenza ngokuphepha abashayeli babantu.
Sekukonke, ingxenye encane yezimoto ezizimele ezilawulwa kahle (ama-AVS) kwanele ukuthuthukisa kakhulu ukuhamba kwezimoto kanye nokusebenza kahle kwamafutha kubo bonke abashayeli endleleni. Ngaphezu kwalokho, abalawuli abaqeqeshiwe benzelwe ukusebenziseka ezimotweni eziningi zesimanje, zisebenza ngendlela ebekiwe futhi zincike ezinzwa ezijwayelekile ze-radar. Ephepheni lethu lakamuva, sihlola izinselelo zokuphambanisa izilawuli ze-RL ngesilinganiso esikhulu, kusuka ekulingiseni nasensimini, kulokhu kuhlolwa kwezimoto eziyi-100.
Izinselelo zePhantom Jams
Igagasi lokumisa nokuhamba lihamba emuva emuva ngomgwaqo omkhulu.
Uma ushayela, nakanjani uthole ukukhungatheka kwamagagasi okuyeka nokuhamba, lawo abonakala engenamqondo ongenakuqhathaniswa nama-traffic slowdow Lawa magagasi avame ukubangelwa ukuguquguquka okuncane ekuziphatheni kwethu kokushayela okukhishwe ngokugeleza kwethrafikhi. Ngokwemvelo siguqula isivinini sethu ngokuya ngemoto ephambi kwethu. Uma igebe livula, sisheshisa ukuqhubeka. Uma bephula, nathi sehlisa ijubane. Kepha ngenxa yesikhathi sethu sokuphendula kwe-nonkero, singavele sibambe kanzima kunemoto ngaphambili. Umshayeli olandelayo ngemuva kwethu wenza okufanayo, futhi lokhu kuyaqhubeka ukukhulisa. Ngokuhamba kwesikhathi, okwakuqala njengokuncipha okuncane kuphenduka ukuyeka okugcwele emuva emuva kwithrafikhi. Lawa magagasi ahamba emuva emuva ekusakazweni kwethrafikhi, okuholela emaconsi abalulekile ekusebenzeni kwamandla ngenxa yokusheshisa kaningi, okuhambisana nokukhuphuka kwe-Co2 ukuphuma kanye nengozi yengozi.
Futhi lokhu akuyona into eyedwanga! Lawa magagasi abukhali emigwaqweni ematasa lapho ubuningi bomgwaqo budlula umkhawulo obucayi. Ngakho-ke singabhekana kanjani nale nkinga? Izindlela zendabuko ezinjenge-rap metering kanye nemikhawulo yejubane eliguqukayo ukuzama ukuphatha ukuhamba kwezimoto, kepha ngokuvamile kudinga ingqalasizinda ebizayo kanye nokuxhumana okuphakathi nendawo. Indlela enobuqili yokusebenzisa ama-avs, angaguqula ngamandla ukuziphatha kwabo kokushayela ngesikhathi sangempela. Kodwa-ke, ukumane ufake ama-AVs phakathi kwabashayeli babantu akwanele: kumele futhi bashayele ngendlela ebukhali eyenza ithrafikhi ibe ngcono kuwo wonke umuntu, okulapho i-RL ingena khona.
Umdwebo oyisisekelo wokugeleza kwezimoto. Inani lezimoto ezisendleleni (density) lithinta ukuthi ingakanani ithrafikhi iqhubekela phambili (ukugeleza). Esikhathini esiphansi, engeza ezinye izimoto kukhuphuka ukuhamba ngoba izimoto eziningi zingadlula. Kepha ngaphezu komkhawulo obucayi, izimoto ziqala ukuvimba omunye nomunye, ziholela ekuxinekeni, lapho kwengeza khona izimoto eziningi zibambezela ukunyakaza okuphelele.
Ukuqinisa Ukufunda kwama-avs-smoothing avs
I-RL iyindlela enamandla yokulawula lapho i-ejenti ifunda ukukhulisa isinali yomvuzo ngokusebenzisana nemvelo. Umenzeli uqoqa isipiliyoni ngokulingwa nangephutha, ufunda emaphutheni alo, futhi uthuthuka ngokuhamba kwesikhathi. Esikhathini sethu, imvelo iyisimo sezimoto ezixubile, lapho i-AVS ifunda khona amasu okushayela ukuze anciphise amagagasi okuma nokuhamba futhi anciphise ukusetshenziselwa amafutha kubo bobabili nezimoto eziqhutshwa ngumuntu eziseduze.
Ukuqeqeshwa kwalawa ma-RL ajenti kudinga ukumbumbuluzwa okusheshayo okunamandla okuqina kwethrafikhi okungaphinda ngokuziphatha komgwaqo omkhulu. Ukufeza lokhu, sithola idatha yokuhlola eqoqwe ku-Interstate 24 (I-24) eduze kwaseNashville, eTennessee, futhi yakusebenzisa ukwakha izimo lapho izimoto zibuyisela khona izimpondo ezinkulu zemigwaqo, ukudala ithrafikhi engazinzile eshayela ngemuva kwayo ifunda ngokubushelela.
Ukulingisa kabusha i-trajectory yomgwaqo omkhulu okhombisa amaza ambalwa okuma-and-go.
Sihlele ama-AVS ngokuthumela engqondweni, siqinisekise ukuthi singasebenza sisebenzisa ulwazi oluyisisekelo oluyisisekelo ngabo kanye nemoto ngaphambili. Ukubukwa kuqukethe ijubane le-AV, ijubane lemoto ehamba phambili, kanye negebe lesikhala phakathi kwalo. Njengoba kunikezwe lokhu okokufaka, i-RL ejenti bese ibeka ukusheshisa okusheshayo noma ijubane elifunekayo le-AV. Inzuzo esemqoka yokusebenzisa lezi zilinganiso zendawo kuphela ukuthi abalawuli be-RL bangathunyelwa ezimotweni eziningi zesimanje ngendlela ebekiwe, ngaphandle kokudinga ingqalasizinda eyengeziwe.
Idizayini yomvuzo
Ingxenye eyinselele kakhulu ihlela umsebenzi womvuzo wokuthi, lapho wandiswa, uqondanise nezinhloso ezahlukahlukene esifisayo ama-AVS ukufezekisa:
- QAPHELA ISIQINISEKISO: Yehlisa ama-oscillations wokumisa.
- Ukusebenza kahle kwamandla: Ukusetshenziswa okuphansi okuphansi kwazo zonke izimoto, hhayi ama-avs kuphela.
- Ukuphepha: Qinisekisa amabanga afanele alandelayo futhi uvikele ukubopha okungazelelwe.
- Induduzo Yokushayela: Gwema ukushesha kanye nokuhlobisa.
- Ukubambelela ezindleleni zokushayela komuntu: Qinisekisa ukusebenza “okujwayelekile” kokushayela okungenzeki abashayeli abaseduze.
Ukulinganisa lezi zinhloso ndawonye kunzima, njengoba ama-coefficients afanelekayo kufanele atholakale. Isibonelo, uma ukunciphisa ukusetshenziswa kwamafutha kubusa umvuzo, ama-rl avs afunda ukumiswa phakathi komgwaqo omkhulu ngoba lokho kunamandla amakhulu. Ukuvimbela lokhu, sethula okushukumisayo kanye nemikhawulo yegebe eliphakeme kakhulu lokuqinisekisa ukusebenza okuphephile nokunengqondo ngenkathi kwenziwa kahle ukusebenza kahle kwamafutha. Siphinde sahlawulisa ukusetshenziswa kwamafutha kwezimoto eziqhutshwa ngumuntu ngemuva kwe-AV ukuze zidilize ukuthi zifunde ukuziphatha kobugovu okuthola ukonga amandla nge-AV ngezindleko zethrafikhi ezungezile. Sekukonke, sihlose ukushaya ibhalansi phakathi kokonga amandla nokuziphatha okunengqondo nokuphephile.
Imiphumela yokulingisa
Umfanekiso we-Dynamic Ubuncane kanye nemikhawulo yegebe eliphakeme, lapho i-AV ingasebenza ngokukhululeka ukugcwala ngokufanele kahle ngangokunokwenzeka.
Ukuziphatha okujwayelekile okufundwe yi-AVS ukulondolozela izikhala ezinkulu kakhulu kunabashayeli babantu, zibavumele bamukele okuzayo, mhlawumbe okusheshayo, ukuncipha kwezimoto ngokuphumelelayo. Esikhathini sekulingisa, le ndlela iphumekele ukonga okonga uphethiloli ofinyelela kuma-20% kulo lonke abasebenzisi bomgwaqo ezimweni ezihlanganiswe kakhulu, abambalwa kunama-avs asendleleni. Futhi lezi zi-avs akudingeki zibe izimoto ezikhethekile! Bangamane nje bayizimoto ezijwayelekile zabathengi ezihlotshiswe ngesilawuli se-smart admative cruise (acc), okuyilokho esikuhlolile esikalini.
Ukuziphatha okubushelelezi kwama-rl avs. Okubomvu: I-trajectory yomuntu kusuka kudathabhethi. I-Blue: AVS elandelanayo ePlatoon, lapho i-AV 1 iseduze kakhulu ngemuva kwe-trajectory yomuntu. Ngokuvamile kukhona phakathi kwezimoto zabantu ezingama-20 no-25 phakathi kwe-AVS. I-AV ngayinye ayinciphise kakhulu noma isheshise ngokushesha njengomholi wayo, okuholela ekunciphiseni amplituty ngaphezulu kwesikhathi ngakho-ke ukonga amandla.
Ukuhlolwa kwensimu engu-100: Ukuhambisa i-RL esikalini
Izimoto zethu eziyi-100 ezipake esikhungweni sethu sokusebenza ngesikhathi seviki lokuhlola.
Njengoba kunikezwe imiphumela yokulingisa ethembisayo, isinyathelo esilandelayo esilandelayo kwakuwukuvala igebe kusuka ekulingiseni kuya emgwaqweni omkhulu. Sithathe abalawuli be-RL abaqeqeshiwe futhi sazisebenzisa ezimotweni eziyi-100 kwi-I-24 ngesikhathi sama-Peak Traffic amahora amaningi ezinsukwini eziningana. Lokhu kuhlola okukhulu, esakubiza ngokuthi iMegavanderTertest, kungukuhlolwa okubucayi okuxubile kwethrafikhi okuxubile okwenziwe.
Ngaphambi kokuthumela abalawuli be-RL enkundleni, sasiqeqesha futhi sawahlolela kakhulu ukumbumbuluzwa futhi sasiqinisekisa ku-Hardware. Sekukonke, izinyathelo ezibheke ukuthunyelwa ezithintekayo:
- Ukuqeqeshwa ekulinganiseni kwedatha: Sisebenzise idatha yomgwaqo omkhulu ovela ku-I-24 ukudala imvelo yokuqeqeshwa enama-wave anamandla anengqondo, bese uqinisekisa ukusebenza kwe-ejenti eqeqeshiwe kanye nokuqina ezinhlobonhlobo zezimo ezintsha zethrafikhi.
- Ukuhanjiswa ku-Hardware: Ngemuva kokuqinisekiswa kwisoftware yamarobhothi, isilawuli esiqeqeshiwe silayishwa emotweni futhi siyakwazi ukulawula ijubane lemoto. Sisebenza ngokulawulwa kwe-Cruise ye-Cruise ebhodini elisemoyeni, elisebenza njengesilawuli sezokuphepha esisezingeni eliphansi.
- Uhlaka Lokulawula Okuvumelanayo: Enye inselelo ebalulekile ngesikhathi sokuhlolwa ibingakwazi ukufinyelela izinzwa zolwazi oluholayo lwemoto. Ukuze unqobe lokhu, isilawuli se-RL sahlanganiswa ohlelweni lwe-Hierarchical, iMegaController, ehlanganisa umhlahlandlela wokuhlela isivinini esithi abeka umhlahlandlela wethrafikhi ophansi, nge-RL isilawuli njengoMenzi wokugcina.
- Ukuqinisekiswa kwe-Hardware: Ama-RL anchents aklanyelwe ukusebenza endaweni lapho izimoto eziningi ziqhutshwa ngabantu, zidinga izinqubomgomo eziqinile ezivumelana nokuziphatha okungalindeleki. Siqinisekisa lokhu ngokushayela izimoto ezilawulwa yi-RL endleleni ngaphansi kokuqashwa kwabantu ngokucophelela, okwenza ushintsho kulawulo olususelwa kwimpendulo.
Ngayinye yezimoto eziyi-100 zixhumeke kwi-raspberry PI, lapho isilawuli se-RL (inethiwekhi encane ye-neural) iyathunyelwa.
Isilawuli se-RL silawula ngokuqondile uhlelo lwe-Online Adiving Cruise Control (ACC), ebeka isivinini salo nebanga elizayo.
Uma seliqinisekisiwe, abalawuli be-RL bathunyelwa ezimotweni eziyi-100 futhi baqhutshwa ku-I-24 ngesikhathi sehora lasekuseni. Ithrafikhi ezungezile ibingazi ukuhlolwa, ukuqinisekisa ukusebenza komshayeli ongacwasiwe. Idatha yaqoqwa ngesikhathi sokuhlolwa kusuka kumakhamera amaningi aphezulu afakwe emgwaqweni omkhulu, okuholele ekukhishweni kwezigidi zezigidi ze-trajectories yemoto ngayinye nge-pipeline yombono wekhompyutha. AmaMetric ahlanganiswe kulezi zinkomba kukhombisa umkhuba wokunciphisa ukusetshenziswa kwamafutha ancishisiwe azungeze ama-avs, njengoba kulindeleke ukuthi kusetshenziswe imiphumela yokulingisa kwangaphambilini kanye nokuhanjiswa kwangaphambilini kokuqinisekiswa okuncane. Isibonelo, singabona ukuthi abantu abasondelene nabo bashayela ngemuva kwama-avs ethu, amafutha amancane abonakala sengathi adla ngokwesilinganiso (okubalwa kusetshenziswa imodeli yamandla ekhangisiwe):
Isilinganiso sokusebenzisa uphethiloli njengomsebenzi webanga ngemuva kwe-RL enikelwe nge-RL-elawulwa i-RL ethafeni eliphansi. Njengoba abashayeli babantu bedlula ngemuva kwe-AVS, ukusetshenziswa kwabo kukaphethiloli kuyanda.
Enye indlela yokulinganisa umthelela ukukala umehluko wejubane nokushesha Sekukonke, yize kutholakale izilinganiso eziqondile ezivela enanini elikhulu lemininingwane yevidiyo yekhamera kuyinkimbinkimbi, sibona ukuthambekela kuka-15 kuye ku-20% wokonga amandla ezizungeze izimoto zethu ezilawulwayo.
Amaphoyinti wedatha avela kuzo zonke izimoto emgwaqweni omkhulu osukwini olulodwa lokuhlolwa, ehlelwe endaweni yokusheshisa ukushesha. Iqoqo elingakwesobunxele komugqa obomvu limele ukugcwala, kuyilapho lowo olungileyo uhambelana nokugeleza kwamahhala. Sibona ukuthi i-Conglesion Cluster incane lapho ama-avs ekhona, njengoba kulinganiswa nge-computing indawo yemvilophu ethambile ye-convex noma ngokufaneleka i-geussian kernel.
Imicabango yokugcina
Ukuhlolwa kwensimu yenkambu eyi-100 kwahlukaniswa, kungabikho ukubambisana okucacile noma ukuxhumana phakathi kwe-AVS, okubonisa ukuthunyelwa kwamanje kokuzimela, nokusilethela isinyathelo esisodwa esiseduze nemigwaqo emikhulu esebenza kahle. Kodwa-ke, kusekhona amandla amakhulu okuthuthuka. Ukulinganisa ukumbumbuluzwa ukuze kusheshe futhi kunembe kakhudlwana ngamamodeli angcono okushayela kwabantu kubalulekile ukuvala igebe lokulingisa kuya kweqiniso. Ukuhlolisisa ama-avs ngedatha eyengeziwe yethrafikhi, kungaba ngezinzwa ezithuthukile noma ekuhleleni okuphakathi, kungathuthukisa ukusebenza kwabalawuli. Isibonelo, ngenkathi i-multi-agent rl ithembise ukuthuthukisa amasu okulawula okubambisana, ihlala ingumbuzo ovulekile ukuthi ukuncoma okucacile phakathi kwamanethiwekhi aphakathi kwama-avs ngaphezulu kwama-avs angaqhubeka nokwenza ngcono ukuqina kanye nokuqhubekisela phambili amagagasi okuma. Ngokusobala, abalawuli bethu bahlanganisa ngaphandle komthungo ngesistimu ekhona yokuhamba ngesikebhe (i-ACC) ekhona, okwenza ukuthunyelwa kwensimu kungenzeki esikalini. Izimoto eziningi zihlome ngokulawulwa okubushelelezi kwezimoto ezihlakaniphile, amaza ambalwa esizowabona emigwaqweni yethu, okusho ukungcoliswa okuncane nokonga amafutha kuwo wonke umuntu!
Abanikeli abaningi babamba iqhaza ekwenzeni iMegavanderTertert yehle! Uhlu oluphelele luyatholakala ekhasini lemibuthano ye-Circulat, kanye nemininingwane eminingi ngephrojekthi.
Funda kabanzi: [paper]
