Automation of a T-intersection Using Virtual Platoons of Cooperative Autonomous Vehicles

Medina, Alejandro Ivan Morales; Wouw, Nathan van de; Nijmeijer, Henk

doi:10.1109/itsc.2015.275

Cited by 33 publications

(12 citation statements)

References 14 publications

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“…For the coordination of AVs in intersections, various solutions have been proposed, e.g., those based on multi-agent systems [2], hybrid system theory [3], virtual platooning [4] and model predictive control (MPC) [5], [6], [7].…”

Section: A Related Workmentioning

confidence: 99%

A Stochastic Model Predictive Control Approach for Driver-Aided Intersection Crossing With Uncertain Driver Time Delay

Katriniok

Kojchev

Lefeber

et al. 2019

2019 18th European Control Conference (ECC)

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We investigate the problem of coordinating human-driven vehicles in road intersections without any traffic lights or signs by issuing speed advices. The vehicles in the intersection are assumed to move along an a priori known path and to be connected via vehicle-to-vehicle communication. The challenge arises with the uncertain driver reaction to a speed advice, especially in terms of the driver reaction time delay, as it might lead to unstable system dynamics. For this control problem, a distributed stochastic model predictive control concept is designed which accounts for driver uncertainties. By optimizing over scenarios, which are sequences of independent and identically distributed samples of the uncertainty over the prediction horizon, we can give probabilistic guarantees on constraint satisfaction. Simulation results demonstrate that the scenario-based approach is able to avoid collisions in spite of uncertainty while the non-stochastic baseline controller is not. A. Katriniok is with Ford Research

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Section: A Related Workmentioning

confidence: 99%

A Stochastic Model Predictive Control Approach for Driver-Aided Intersection Crossing With Uncertain Driver Time Delay

Katriniok

Kojchev

Lefeber

et al. 2019

2019 18th European Control Conference (ECC)

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“…In this section, we focus our attention on the backbone of our system: the virtual platoon technique [9]. This method allows to compare the distances between two or more vehicles to a common point, even if they are not lying on the same lane.…”

Section: Virtual Platooningmentioning

confidence: 99%

“…In this paper, a decision making method for crossing a roundabout based on an high definition map and virtual platooning is proposed. One of the main advantages of virtual platooning [9] is to allow a single platooning control law to be adapted to several scenarios such as intersection crossing or lane merging. The aim of this paper is to generalize this concept to roundabout crossing.…”

Section: Introductionmentioning

confidence: 99%

Adapting the Virtual Platooning Concept to Roundabout Crossing

Masi

2018

2018 IEEE Intelligent Vehicles Symposium (IV)

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Despite the tremendous growth of research regarding fully autonomous vehicles in the past few years, many safety critical scenarios, such as the crossing of roundabouts, are still open issues. One of the main challenge is to deal with the lack of visibility in complex environments. Vehicle-tovehicle and vehicle-to-infrastructure communications offer an appealing solution to handle these situations in a cooperative way. To avoid computing an ad hoc control strategy for every possible scenario, we propose in this paper to adapt the concept of virtual platooning to roundabout crossing. This idea allows a single platooning control law to handle complex scenarios such as intersection and roundabout crossings. This work combines the use of high definition maps and a curvilinear coordinates framework to deal with any kind of roundabouts. The proposed approach is not limited to communicating autonomous vehicles but can also be used with manually driven communicating vehicles or non-communicating vehicles with the help on the infrastructure. A formal proof of the correctness of this approach is given and simulations have been carried out with a high definition map of a real roundabout. We also introduce a novel graphical representation called safety diagram to study de performances of our approach.

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“…Reactive coordination protocols are popular in the literature because of its low computational burden. Solutions based on navigation functions [5], virtual vehicles [6] or virtual platoons [7] have been presented in the past. Optimization has also been exploited in decentralized form.…”

Section: Introductionmentioning

confidence: 99%

“…The concept of virtual vehicle denotes techniques that exploit phantom vehicles to reach cooperation among CAVs, and it was first presented in [6], where virtual vehicles were generated by mapping cars on their targeted lane. This criterion is also used in [12] and is slightly extended in [7] by making use of scaled traveled distances to generate virtual vehicles.…”

Section: Introductionmentioning

confidence: 99%

A virtual vehicle based coordination framework for Autonomous Vehicles in heterogeneous scenarios

Debada

Makarem

Gillet

2017

2017 IEEE International Conference on Vehicular Electronics and Safety (ICVES)

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Abstract-This work presents a novel virtual vehicle based decentralized coordination framework for Connected Autonomous Vehicles (CAVs). We explore the idea of CAVs being capable of positioning virtual vehicles to share their intended maneuver as well as request cooperation. This framework has potential to inspire versatile solutions and provides an intuitive interface to interact with reactive and unconnected vehicles. In this context, a preliminary coordination policy is proposed and tested on a three-legged single-lane roundabout. Simulation results show that the presented solution performs outstandingly better when it leverages the freedom at positioning virtual vehicles that our framework provides. Furthermore, the performance degradation resulting from mixing CAVs and unconnected cars is observed, and coordination assessment under this circumstance is discussed.

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Automation of a T-intersection Using Virtual Platoons of Cooperative Autonomous Vehicles

Cited by 33 publications

References 14 publications

A Stochastic Model Predictive Control Approach for Driver-Aided Intersection Crossing With Uncertain Driver Time Delay

A Stochastic Model Predictive Control Approach for Driver-Aided Intersection Crossing With Uncertain Driver Time Delay

Adapting the Virtual Platooning Concept to Roundabout Crossing

A virtual vehicle based coordination framework for Autonomous Vehicles in heterogeneous scenarios

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