Membership-based Manoeuvre Negotiation in Autonomous and Safety-critical Vehicular Systems

2019/06/11 by António Casimiro, Casimiro, Antonio, Emelie Ekenstedt +3
Computer Science · Engineering · Psychology · #Autonomous Vehicle Technology and Safety #Distributed #FOS: Computer and information sciences #Human-Automation Interaction and Safety #Parallel #Robotic Path Planning Algorithms #and Cluster Computing (cs.DC)

paper · pdf · doi:10.48550/arxiv.1906.04703

openalex publication_date 2019/06/11 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28

Abstract

A fault-tolerant negotiation-based intersection crossing protocol is presented. Rigorous analytic proofs are used for demonstrating the correctness and fault-tolerance properties. Experimental results validate the correctness proof via detailed computer simulations and provide a preliminary evaluation of the system performances. The results are compared to the ones that can be achieved via a risk estimator with and without combining the proposed protocol. Our fault model considers packet-loss, noisy sensory information and malicious driving. Our preliminary results show a reduction in the number of dangerous situations and vehicle collisions.

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