A-DRIVE: Autonomous Deadlock Detection and Recovery at Road Intersections for Connected and Automated Vehicles

Aoki, Sadao; Ragunathan,; Rajkumar, S. Vincent

doi:10.1109/iv51971.2022.9827436

Cited by 6 publications

(6 citation statements)

References 29 publications

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“…Concurrent use of services that, among other things, shorten travel times, enable cooperative autonomous driving, save infrastructure and maintenance costs, and boost energy efficiency. The primary concerns of modern advancements include data storage, privacy and security challenges, IoT sensor energy optimization in cars, legal uncertainties, and real-time big data analytics [37][38][39].…”

Section: Related Workmentioning

confidence: 99%

Effect of Waiting Time and Number of Slots on Vehicular Networking Employing Slotted ALOHA Protocol

2024

IJIES

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This work investigates through simulation effect of waiting time and number of slots on the effectiveness of using Slotted ALOHA in vehicular connectivity as a random access technique. The objective is to reach optimum level of throughput under the vehicular dynamic environment. The presented work proposes to concentrate on waiting time as a controlling parameter that can be used in an adaptive manner to enable throughput optimization in response to changing vehicular density. The work proved through MATLAB simulation the importance of waiting time parameter in controlling number of delivered frames and throughput. The results show that based on the exponential relationship between throughput and data traffic, there is a logarithmic relationship between data traffic and waiting time, which complements another logarithmic relationship between throughput and waiting time. The simulation also shows that there is an inverse relationship between throughput and data traffic as a function of set waiting time. The simulation shows that there is an exponential relationship between waiting time and maximum number of delivered frames. The work shows that a linear region of operating Slotted ALOHA can be specified, such that an optimum and dynamically adjusted waiting time is set with overall effect on number of slots and throughput. The dynamic shape function of the curve correlating waiting time to available number of slots is mathematically modelled and differentially controlled, thus an optimizing and controlling algorithm is produced, which improves significantly the conventional ALOHA performance and has an advantage over other used ALOHA derivatives, in that it concentrates on available slots and waiting time, which greatly contributes towards reduction in collisions and improving of throughput.

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Section: Related Workmentioning

confidence: 99%

Effect of Waiting Time and Number of Slots on Vehicular Networking Employing Slotted ALOHA Protocol

2024

IJIES

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“…The fixed assumption then needs to be revised to accommodate a more flexible unlock design. Current methods either assume a limited vehicle-states space [31], where a structured environment can be constructed, or don't distinguish between the case that the vehicle only needs to yield to other vehicle and that the vehicle needs to steer away from the deadlock (which is used by human drivers in real-world case). The above two assumptions are too simplified to deal with deadlocks in a mixed CAV environment.…”

Section: Literature Reviewmentioning

confidence: 99%

“…Traffic deadlock is a common phenomenon during rush hours. A deadlock can be characterized by a cyclic waiting behaviour of vehicles [23][24][25][26]31]. Thus many literatures construct such graphs and design certain deadlock-free conditions.…”

Section: Literature Reviewmentioning

confidence: 99%

“…Therefore the goal of this task is to infer [ z k+1 u k+1 ] at each time interval using observation w based on the model of (31). Suppose the estimation error covariance matrix is P k|k at step k, then the optimal estimator is given by [22]:…”

Section: Hdv Model By Extended Kalman Filteringmentioning

confidence: 99%

“…Thus, a method that describes the vehicle movement in an unstructured environment is necessary to deal with the vehicle model with a highly nonlinear feature. More importantly, 3) when a deadlock finally occurs, the vehicles need to steer away to release space for other vehicles (the condition that steering is necessary is named as a strong deadlock in this manuscript, compared with the weak deadlock, where the trajectories are assumed given and the vehicle in deadlock simply yields to other vehicles [31]). The fixed assumption then needs to be revised to accommodate a more flexible unlock design.…”

Section: Introductionmentioning

confidence: 99%

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Deadlock detection, cooperative avoidance and recovery protocol for mixed autonomous vehicles in unstructured environment

Song

Huang

et al. 2023

IET Intelligent Trans Sys

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Deadlock is an extreme traffic flow operational state during rush hours. Many literatures have studied autonomous vehicle coordination under the umbrella of deadlock‐free conditions. These researches either assume the trajectories are fixed or state spaces are discrete and limited on structured road spaces or don't consider the influence of human‐driven vehicles (HDV), which are not controllable from the system's viewpoint. This manuscript relaxes the above limitations and proposes a method to detect, avoid, and recover from deadlock for mixed autonomous vehicles flow. Firstly, two types of deadlocks, weak and strong , are defined based on deadlock properties. Next, two detection algorithms based on evasion distance propagation are proposed. After that, we present a cooperative control method to avoid deadlock based on chain‐spillover‐free and loop‐free strategies. If a deadlock has already happened, cooperative protocols based on re‐routing and backward‐forward strategies are designed. The proposed model is tested in Carla. The results show that the deadlocks can be detected 13 seconds earlier than their occurrence, and it takes about 6 seconds to unlock the existing deadlock. The results also show that with the proposed deadlock avoidance algorithm, the traffic throughput can be increased by 35.7%, and with the proposed deadlock recovery protocol, the traffic throughput can be increased by another 18%.

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Vehicular Connectivity Analysis Using Enhanced Quality Slotted ALOHA (EQS-ALOHA)

Iskandarani

2024

Lecture Notes in Networks and Systems

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A-DRIVE: Autonomous Deadlock Detection and Recovery at Road Intersections for Connected and Automated Vehicles

Cited by 6 publications

References 29 publications

Effect of Waiting Time and Number of Slots on Vehicular Networking Employing Slotted ALOHA Protocol

Effect of Waiting Time and Number of Slots on Vehicular Networking Employing Slotted ALOHA Protocol

Deadlock detection, cooperative avoidance and recovery protocol for mixed autonomous vehicles in unstructured environment

Vehicular Connectivity Analysis Using Enhanced Quality Slotted ALOHA (EQS-ALOHA)

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