We consider the problem of collaborative driving systems in which the vehicles share sensor information and make joint decisions on vehicle control. Such a system involves vehicular control, communications links, and environment sensing. We propose a multiple stack architecture that is based on the nature of collaborative driving systems. The architecture facilitates the design, implementation, verification, and testing of a collaborative driving protocol. The advantage of using absolute time in a distributed system is also demonstrated. Specifically, we propose a merge protocol that assists a driver in merging with other vehicles based on the proposed architecture. We create a lock protocol and specify it as an extended finite state machine as a subroutine of the merge protocol. Absolute time simplifies a deadlock-free lock protocol. The lock protocol is verified using probabilistic verification.
The Fail-Safe Operation of Collaborative Driving Systems
Journal of Intelligent Transportation Systems ; 20 , 1 ; 88-101
2016-01-02
14 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
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