Supervisory control for intersection collision avoidance in the presence of uncontrolled vehicles
This paper describes the design of a supervisory controller (supervisor) that manages controlled vehicles to avoid intersection collisions in the presence of uncontrolled vehicles. Two main problems are addressed: verification of the safety of all vehicles at an intersection, and management of the i...
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers (IEEE)
2015
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| Online Access: | http://hdl.handle.net/1721.1/97413 https://orcid.org/0000-0001-6472-8576 https://orcid.org/0000-0001-9153-3491 |
| _version_ | 1811073411492872192 |
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| author | Ahn, Heejin Colombo, Alessandro Del Vecchio, Domitilla |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Ahn, Heejin Colombo, Alessandro Del Vecchio, Domitilla |
| author_sort | Ahn, Heejin |
| collection | MIT |
| description | This paper describes the design of a supervisory controller (supervisor) that manages controlled vehicles to avoid intersection collisions in the presence of uncontrolled vehicles. Two main problems are addressed: verification of the safety of all vehicles at an intersection, and management of the inputs of controlled vehicles. For the verification problem, we employ an inserted idle-time scheduling approach, where the “inserted idle-time” is a time interval when the intersection is deliberately held idle for uncontrolled vehicles to safely cross the intersection. For the management problem, we design a supervisor that is least restrictive in the sense that it overrides controlled vehicles only when a safety violation becomes imminent. We analyze computational complexity and propose an efficient version of the supervisor with a quantified approximation bound. |
| first_indexed | 2024-09-23T09:32:39Z |
| format | Article |
| id | mit-1721.1/97413 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T09:32:39Z |
| publishDate | 2015 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/974132022-09-26T12:08:16Z Supervisory control for intersection collision avoidance in the presence of uncontrolled vehicles Ahn, Heejin Colombo, Alessandro Del Vecchio, Domitilla Massachusetts Institute of Technology. Department of Mechanical Engineering Ahn, Heejin Del Vecchio, Domitilla This paper describes the design of a supervisory controller (supervisor) that manages controlled vehicles to avoid intersection collisions in the presence of uncontrolled vehicles. Two main problems are addressed: verification of the safety of all vehicles at an intersection, and management of the inputs of controlled vehicles. For the verification problem, we employ an inserted idle-time scheduling approach, where the “inserted idle-time” is a time interval when the intersection is deliberately held idle for uncontrolled vehicles to safely cross the intersection. For the management problem, we design a supervisor that is least restrictive in the sense that it overrides controlled vehicles only when a safety violation becomes imminent. We analyze computational complexity and propose an efficient version of the supervisor with a quantified approximation bound. National Science Foundation (U.S.) (Award 1239182) 2015-06-15T15:44:11Z 2015-06-15T15:44:11Z 2014-06 Article http://purl.org/eprint/type/JournalArticle 978-1-4799-3274-0 978-1-4799-3272-6 978-1-4799-3271-9 0743-1619 http://hdl.handle.net/1721.1/97413 Ahn, Heejin, Alessandro Colombo, and Domitilla Del Vecchio. “Supervisory Control for Intersection Collision Avoidance in the Presence of Uncontrolled Vehicles.” 2014 American Control Conference (June 2014). https://orcid.org/0000-0001-6472-8576 https://orcid.org/0000-0001-9153-3491 en_US http://dx.doi.org/10.1109/ACC.2014.6859163 Proceedings of the 2014 American Control Conference 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 | Ahn, Heejin Colombo, Alessandro Del Vecchio, Domitilla Supervisory control for intersection collision avoidance in the presence of uncontrolled vehicles |
| title | Supervisory control for intersection collision avoidance in the presence of uncontrolled vehicles |
| title_full | Supervisory control for intersection collision avoidance in the presence of uncontrolled vehicles |
| title_fullStr | Supervisory control for intersection collision avoidance in the presence of uncontrolled vehicles |
| title_full_unstemmed | Supervisory control for intersection collision avoidance in the presence of uncontrolled vehicles |
| title_short | Supervisory control for intersection collision avoidance in the presence of uncontrolled vehicles |
| title_sort | supervisory control for intersection collision avoidance in the presence of uncontrolled vehicles |
| url | http://hdl.handle.net/1721.1/97413 https://orcid.org/0000-0001-6472-8576 https://orcid.org/0000-0001-9153-3491 |
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