Cooperative Collision Avoidance at Intersections: Algorithms and Experiments
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) s...
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| Published in | IEEE transactions on intelligent transportation systems Vol. 14; no. 3; pp. 1162 - 1175 |
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| Main Authors | , , , |
| Format | Journal Article |
| Language | English |
| Published |
IEEE
01.09.2013
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| Subjects | |
| Online Access | Get full text |
| ISSN | 1524-9050 1558-0016 1558-0016 |
| DOI | 10.1109/TITS.2013.2252901 |
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| 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. |
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| AbstractList | 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. |
| Author | Hafner, Michael R. Del Vecchio, Domitilla Cunningham, Drew Caminiti, Lorenzo |
| Author_xml | – sequence: 1 givenname: Michael R. surname: Hafner fullname: Hafner, Michael R. organization: Syst. Lab., Univ. of Michigan, Ann Arbor, MI, USA – sequence: 2 givenname: Drew surname: Cunningham fullname: Cunningham, Drew email: drew.cunningham@tema.toyota.com organization: Integrated Vehicle Syst. Dept., Toyota Motor Eng. & Manuf. North America, Inc., Erlanger, KY, USA – sequence: 3 givenname: Lorenzo surname: Caminiti fullname: Caminiti, Lorenzo email: lorenzo.caminiti@tema.toyota.com organization: Integrated Vehicle Syst. Dept., Toyota Motor Eng. & Manuf. North America, Inc., Erlanger, KY, USA – sequence: 4 givenname: Domitilla surname: Del Vecchio fullname: Del Vecchio, Domitilla organization: Dept. of Mech. Eng., Massachusetts Inst. of Technol., Cambridge, MA, USA |
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| SubjectTerms | Automatic control Collision avoidance Computers control system synthesis Heuristic algorithms intelligent vehicles land vehicles networked control systems remotely operated vehicles Safety traffic control transportation Vehicle crash testing Vehicle dynamics Vehicles |
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| Title | Cooperative Collision Avoidance at Intersections: Algorithms and Experiments |
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