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...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
| Published: |
Institute of Electrical and Electronics Engineers (IEEE)
2015
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| Online Access: | http://hdl.handle.net/1721.1/97407 https://orcid.org/0000-0001-6472-8576 |
| _version_ | 1811095404245155840 |
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| author | Hafner, Michael R. Cunningham, Drew Caminiti, Lorenzo Del Vecchio, Domitilla |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Hafner, Michael R. Cunningham, Drew Caminiti, Lorenzo Del Vecchio, Domitilla |
| author_sort | Hafner, Michael R. |
| collection | MIT |
| description | 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. |
| first_indexed | 2024-09-23T16:16:13Z |
| format | Article |
| id | mit-1721.1/97407 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T16:16:13Z |
| publishDate | 2015 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/974072022-10-02T07:23:02Z Cooperative Collision Avoidance at Intersections: Algorithms and Experiments Hafner, Michael R. Cunningham, Drew Caminiti, Lorenzo Del Vecchio, Domitilla Massachusetts Institute of Technology. Department of Mechanical Engineering Del Vecchio, Domitilla 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. 2015-06-15T13:35:01Z 2015-06-15T13:35:01Z 2013-08 2013-02 Article http://purl.org/eprint/type/JournalArticle 1524-9050 1558-0016 http://hdl.handle.net/1721.1/97407 Hafner, Michael R., Drew Cunningham, Lorenzo Caminiti, and Domitilla Del Vecchio. “Cooperative Collision Avoidance at Intersections: Algorithms and Experiments.” IEEE Transactions on Intelligent Transportation Systems 14, no. 3 (September 2013): 1162–1175. https://orcid.org/0000-0001-6472-8576 en_US http://dx.doi.org/10.1109/TITS.2013.2252901 IEEE Transactions on Intelligent Transportation Systems Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) MIT web domain |
| spellingShingle | Hafner, Michael R. Cunningham, Drew Caminiti, Lorenzo Del Vecchio, Domitilla Cooperative Collision Avoidance at Intersections: Algorithms and Experiments |
| title | Cooperative Collision Avoidance at Intersections: Algorithms and Experiments |
| title_full | Cooperative Collision Avoidance at Intersections: Algorithms and Experiments |
| title_fullStr | Cooperative Collision Avoidance at Intersections: Algorithms and Experiments |
| title_full_unstemmed | Cooperative Collision Avoidance at Intersections: Algorithms and Experiments |
| title_short | Cooperative Collision Avoidance at Intersections: Algorithms and Experiments |
| title_sort | cooperative collision avoidance at intersections algorithms and experiments |
| url | http://hdl.handle.net/1721.1/97407 https://orcid.org/0000-0001-6472-8576 |
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