Priority-based coordination of autonomous and legacy vehicles at intersection

2014/07/22 by Qian, Xiangjun, Gregoire, Jean, Moutarde, Fabien +1 · 1 citation
#FOS: Computer and information sciences #FOS: Electrical engineering #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · doi:10.48550/arxiv.1407.5813

Abstract

Recently, researchers have proposed various autonomous intersection management techniques that enable autonomous vehicles to cross the intersection without traffic lights or stop signs. In particular, a priority-based coordination system with provable collision-free and deadlock-free features has been presented. In this paper, we extend the priority-based approach to support legacy vehicles without compromising above-mentioned features. We make the hypothesis that legacy vehicles are able to keep a safe distance from their leading vehicles. Then we explore some special configurations of system that ensures the safe crossing of legacy vehicles. We implement the extended system in a realistic traffic simulator SUMO. Simulations are performed to demonstrate the safety of the system.

Cited by

• Generalized Coordination of Partially Cooperative Urban Traffic

Related

• Safe and Efficient Intersection Control of Connected and Autonomous Intersection Traffic
• Safe Intersection Management for Mixed Transportation Systems with Human-Driven and Autonomous Vehicles
• Towards Safe Autonomous Intersection Management: Temporal Logic-based Safety Filters for Vehicle Coordination
• Polling-systems-based Autonomous Vehicle Coordination in Traffic\n Intersections with No Traffic Signals
• AROW: V2X-based Automated Right-of-Way Algorithm for Cooperative Intersection Management