Just as Caesar declared "alea iacta est" (the die is cast) upon crossing the Rubicone river, lane change decisions in autonomous vehicles also represent critical points of no return. RUBICONe addresses this challenge by recognizing that lane change decision-making relying solely on a single vehicle's perception would be as precarious as crossing an unknown river alone. By implementing a distributed consensus framework that extends the RAFT algorithm with wireless connectivity, RUBICONe enables multiple vehicles to collectively process and aggregate their perceptions. Using multiple software-defined radio (SDR) devices as the experimental platform, this study demonstrates how consensus-based decision-making significantly reduces the impact of environmental interference and mitigates the risk of misjudgments by individual vehicles. Just as crossing the Rubicone marked a point of irrevocable action backed by collective intelligence, RUBICONe ensures that lane change decisions are made with comprehensive situational awareness and distributed consensus, showcasing the reliability gain of consensus in wireless communications.

翻译：正如凯撒在渡过卢比孔河时宣告"alea iacta est"（木已成舟），自动驾驶车辆的变道决策同样代表着不可逆转的关键节点。RUBICONe通过以下方式应对这一挑战：认识到仅依赖单车感知的变道决策犹如孤舟独渡未知之河。通过实现一种扩展RAFT算法的无线分布式共识框架，RUBICONe使多辆车辆能够协同处理并聚合其感知信息。本研究以多台软件定义无线电设备为实验平台，论证了基于共识的决策机制如何显著降低环境干扰的影响，并减轻单车误判的风险。正如跨越卢比孔河标志着集体智慧支撑下不可逆行动的转折点，RUBICONe确保变道决策在全面态势感知与分布式共识的基础上制定，彰显了无线通信中共识带来的可靠性增益。