State-Driven Priority Scheduling Mechanisms for Driverless Vehicles Approaching Intersections

Abstract

Scheduling driverless vehicles with different priorities to pass through intersections efficiently and safely has been becoming an important passing-through intersection (PTI) problem in the field of novel intelligent traffic systems (ITS), which is increasingly becoming cyber-physical-fused and social-serviceoriented. Considering new emerging features with possible priorities, a novel centralized priority scheduling mechanism is mainly explored in this paper. First, related pivotal aspects of environment and driverless vehicles are modeled by fusing their physical and kinematic characters. Based on these models, PTI-related motions are further abstracted as several reservation-oriented standard states and actions. Then, an event-triggered and state-driven autonomous control procedure is designed. By mapping vehicular relations in spatiotemporal domain into time-distance windows, a universal passing-through principle, rules, and priority-based scheduling mechanisms are proposed and described in detail. Finally, a priority scheduling algorithm sPriorFIFO is proposed and designed. These models and mechanisms are then implemented within an algorithm simulator, through which scheduling performances are verified and evaluated.

Cooperative Automated Vehicles: A Review of Opportunities and Challenges in Socially Intelligent Vehicles Beyond Networking

“…This provides a level of coordination among vehicles crossing such an intersection allowing reductions in delays and increased traffic handling. The work in [38] studied a reservation-oriented mechanism based on FIFO queues biased with priorities for scheduling automated vehicles with different priorities when passing through intersections. Again, such coordination achieved this way is useful for handling conflicting aims of the vehicles at intersections.…”

A Comprehensive Technological Survey on Dependable Self-Managing CPS: The Decade of Researches on Correctness and Dependability

“…E.g. energy and temporal constraints [99], fault tolerance and temporal constraints [68], security and temporal constraints [100], system and environment states and priority of tasks [101], etc. Furthermore, a recommended method of multithreading multi-agent scheduling was proposed to search the efficient and fast solution of complex problems in real-time featuring rapid dynamic changes and uncertainty [98].…”

Service-Oriented Cooperation Policies for Intelligent Ground Vehicles Approaching Intersections

“…Figure 1a shows the vehicular cooperation at a crossroad. It corresponds to a problem called Passing-Through Intersection (PTI) [7], which mainly focuses on how to guarantee vehicles pass through an intersection safely and efficiently [8,9]. And Figure 1b indicates the cooperation of vehicles when taking lane-changing or over-taking actions on roads [10].…”

“…Therefore, how to make vehicles with higher priorities pass through an intersection as early as possible has become a vital problem, which is also the topic with which we have concerned ourselves in recent years. In this paper, several cooperation models, mechanisms, and policies for intelligent vehicles approaching intersections are further studied on the basis of our previous studies [5,7,15,16]. Especially, after mapping vehicular QoS to a priority property and studying dynamic priority mechanisms, in this research five new scheduling policies are principally proposed and designed with new "queue-based", namely "platoon-based", and "QoS-oriented" properties.…”