Vehicular Coordination via a Safety Kernel in the Gulliver Test-Bed

Casimiro, António; Ponce, Oscar Morales; Petig, Thomas; Schiller, Elad Michael

doi:10.1109/icdcsw.2014.25

Cited by 5 publications

(5 citation statements)

References 13 publications

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“…The proposed solution can be also extended to other cooperative vehicular applications, such as intersection crossing, coordinated lane change, as we demonstrated using the Gulliver test-bed [24,25] during the KARYON project [6]. 2 Moreover, we have considered the simplest multi-hop communication primitive, i.e., gossip with constant retransmissions.…”

Section: Resultsmentioning

confidence: 99%

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Cooperation with disagreement correction in the presence of communication failures

Morales-Ponce

Schiller

Falcone

2014

17th International IEEE Conference on Intelligent Transportation Systems (ITSC)

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Vehicle-to-vehicle communication is a fundamental requirement for maintaining safety standards in high-performance cooperative vehicular systems. The vehicles periodically exchange critical information among nearby vehicles and determine their maneuvers according to the information quality and the established strategies. However, wireless communication is failure prone. Thus, participants can be unaware that other participants have not received the needed information on time. This can result in conflicting (unsafe) trajectories. We present a deterministic solution that allows all participants to use a fallback strategy in the presence of communication delays. We base our solution on a timed distributed protocol. In the presence of message omission and delay failures, the protocol disagreement period is bounded by a constant (in the order of milliseconds) that may depend on the message delay in the absence of these failures. We demonstrate correctness and perform experiments to corroborate its efficiency. We explain how vehicular platooning can use the proposed solution for providing high performance while meeting the safety standards in the presence of communication failures. We believe that this work facilitates the implementation of cooperative driving systems that have to deal with inherent (communication) uncertainties. * This paper appears as a technical report [26] and as an extended abstract [23].

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Section: Resultsmentioning

confidence: 99%

“…The studied problem is motivated by the KARYON project [3,5,6]. The KARYON project aims to provide a predictable and safe coordination of intelligent vehicles that interact in inherently uncertain environments.…”

Section: Related Workmentioning

confidence: 99%

Cooperation with disagreement correction in the presence of communication failures

Morales-Ponce

Schiller

Falcone

2014

17th International IEEE Conference on Intelligent Transportation Systems (ITSC)

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“…The proposed solution can be applied to implementing cooperative vehicular applications, such as intersection crossing, coordinated lane change, platooning, as we demonstrated using the Gulliver test-bed [ 29 ] during the KARYON project [ 30 ]. (Demonstration videos are available via .)…”

Section: Discussionmentioning

confidence: 99%

How to Stop Disagreeing and Start Cooperatingin the Presence of Asymmetric Packet Loss

Morales-Ponce

Schiller

Falcone

2018

Sensors

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We consider the design of a disagreement correction protocol in multi-vehicle systems. Vehicles broadcast in real-time vital information such as position, direction, speed, acceleration, intention, etc. This information is then used to identify the risks and adapt their trajectory to maintain the highest performance without compromising the safety. To minimize the risk due to the use of inconsistent information, all cooperating vehicles must agree whether to use the exchanged information to operate in a cooperative mode or use the only local information to operate in an autonomous mode. However, since wireless communications are prone to failures, it is impossible to deterministically reach an agreement. Therefore, any protocol will exhibit necessary disagreement periods. In this paper, we investigate whether vehicles can still cooperate despite communication failures even in the scenario where communication is suddenly not available. We present a deterministic protocol that allows all participants to either operate a cooperative mode when vehicles can exchange all the information in a timely manner or operate in autonomous mode when messages are lost. We show formally that the disagreement time is bounded by the time that the communication channel requires to deliver messages and validate our protocol using NS-3 simulations. We explain how the proposed solution can be used in vehicular platooning to attain high performance and still guarantee high safety standards despite communication failures.

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“…The algorithm details appear in [5] and it considers the accessibility of (primitive) applications for maintaining appropriate inter-vehicle distance, e.g., adaptive cruise control and vehicular platooning. The algorithm considers a vehicle that is changing lane to a subject (target) lane, as well as the vehicle projection on the subject lane.…”

Section: A the Gulliver Test-bedmentioning

confidence: 99%

“…The Gulliver test-bed, which we used to develop our example application, was previously presented in [17] and [3]. In [5] we present the details of the algorithms for the cooperative functions and, finally, in [9] we address the aspects of safety assurance with the proposed architectural approach.…”

Section: Related Workmentioning

confidence: 99%

A kernel-based architecture for safe cooperative vehicular functions

Casimiro

Rufino

Pinto

et al. 2014

Proceedings of the 9th IEEE International Symposium on Industrial Embedded Systems (SIES 2014)

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Future vehicular systems will be able to cooperate in order to perform many functions in a more effective and efficient way. However, achieving predictable and safe coordination of vehicles that autonomously cooperate in open and uncertain environments is a challenging task. Traditional solutions for achieving safety either impose restrictions on performance or require costly resources to deal with the worst case situations. In this paper, we describe a generic architectural pattern that addresses this problem. We consider that cooperative functions can be executed with multiple levels of service, and we rely on a safety kernel to manage the service level in run-time. A set of safety rules defined in design-time determine conditions under which the cooperative function can be performed safely in each level of service. The paper provides details of our implementation of this safety kernel, covering both hardware and software aspects. It also presents an example application of the proposed solutions in the development of a demonstrator using scaled vehicles.

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Vehicular Coordination via a Safety Kernel in the Gulliver Test-Bed

Cited by 5 publications

References 13 publications

Cooperation with disagreement correction in the presence of communication failures

Cooperation with disagreement correction in the presence of communication failures

How to Stop Disagreeing and Start Cooperatingin the Presence of Asymmetric Packet Loss

A kernel-based architecture for safe cooperative vehicular functions

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