The objectives, configuration and architecture of AHS are discused. The is-sues such as high-level network optimization, middle-level multi-agent scheduling and bottom-level au-tomated vehicle control are all considered.

• 着重讨论AHS的目标、配置、体系结构和功能分解,分析其中的高层网络优化、中层多自主体调度和底层自动车辆控制等问题。