Cooperative Collision Avoidance at Intersections: Algorithms and Experiments
TLDR
This work provides an experimental validation of the formal control theoretic methods to guarantee a collision-free (safe) system, whereas overrides are only applied when necessary to prevent a crash.Abstract:
In this paper, we leverage vehicle-to-vehicle (V2V) communication technology to implement computationally efficient decentralized algorithms for two-vehicle cooperative collision avoidance at intersections. Our algorithms employ formal control theoretic methods to guarantee a collision-free (safe) system, whereas overrides are only applied when necessary to prevent a crash. Model uncertainty and communication delays are explicitly accounted for by the model and by the state estimation algorithm. The main contribution of this work is to provide an experimental validation of our method on two instrumented vehicles engaged in an intersection collision avoidance scenario in a test track.read more
Citations
More filters
Journal ArticleDOI
A Survey of Motion Planning and Control Techniques for Self-Driving Urban Vehicles
TL;DR: In this article, the authors present a survey of the state of the art on planning and control algorithms with particular regard to the urban environment, along with a discussion of their effectiveness.
Posted Content
A Survey of Motion Planning and Control Techniques for Self-driving Urban Vehicles
TL;DR: The objective of this paper is to survey the current state of the art on planning and control algorithms with particular regard to the urban setting and to gain insight into the strengths and limitations of the reviewed approaches.
Journal ArticleDOI
A Survey of Autonomous Driving: Common Practices and Emerging Technologies
TL;DR: The technical aspect of automated driving is surveyed, with an overview of available datasets and tools for ADS development and many state-of-the-art algorithms implemented and compared on their own platform in a real-world driving setting.
Journal ArticleDOI
A Survey on the Coordination of Connected and Automated Vehicles at Intersections and Merging at Highway On-Ramps
TL;DR: The developments and the research trends in coordination with the CAVs that have been reported in the literature to date are summarized and remaining challenges and potential future research directions are discussed.
Journal ArticleDOI
Cooperative Intersection Management: A Survey
Lei Chen,Cristofer Englund +1 more
TL;DR: Major techniques and solutions for cooperative intersections are surveyed in this paper for both signalized and nonsignalized intersections, whereas focuses are put on the latter.
References
More filters
Journal ArticleDOI
The control of discrete event systems
Peter J. Ramadge,W. M. Wonham +1 more
TL;DR: The focus is on the qualitative aspects of control, but computation and the related issue of computational complexity are also considered.
Book
Optimal State Estimation: Kalman, H Infinity, and Nonlinear Approaches
TL;DR: With its expert blend of theory and practice, coupled with its presentation of recent research results, Optimal State Estimation is strongly recommended for undergraduate and graduate-level courses in optimal control and state estimation theory.
Control of Discrete Event Systems
TL;DR: The main focus of this paper is the presentation of the automata and formal language model for DES introduced by Raniadge and Wonham in 1985, suitable for the examination of some important control theoretic issues, and provides a good basis for modular synthesis of controllers.
Journal ArticleDOI
Development and Evaluation of a Cooperative Vehicle Intersection Control Algorithm Under the Connected Vehicles Environment
Joyoung Lee,Byungkyu Park +1 more
TL;DR: A simulation-based case study implemented on a hypothetical four-way single-lane approach intersection under varying congestion conditions showed that the CVIC algorithm significantly improved intersection performance compared with conventional actuated intersection control and improved air quality and energy savings.