This paper proposes a novel communication-enabled distributed conflict resolution mechanism in order for a group of connected autonomous vehicles to navigate safely and efficiently in intersections without any traffic manager. The conflict resolution strategy for individual vehicle is decoupled temporally. In a decision maker, the vehicle computes the desired time slots to pass the conflict zones by solving a conflict graph locally based on the broadcasted information from other vehicles. In a motion planner, the vehicle computes the desired speed profile by solving a temporal optimization problem constrained in the desired time slot. The estimated time to occupy the conflict zones given the new speed profile is then broadcasted again. It is proved that the aggregation of these local decisions solves the conflicts globally. Theoretically, this method provides an efficient parallel mechanism to obtain local optimal solutions of a large-scale optimization problem (e.g., multivehicle navigation). Application-wise, as demonstrated by extensive simulation, this mechanism increases the efficiency of autonomous vehicles in terms of smaller delay time, as well as the efficiency of the traffic in terms of larger throughput when there is no traffic manager to mediate the conflicts.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Distributed Conflict Resolution for Connected Autonomous Vehicles


    Contributors:

    Published in:

    Publication date :

    2018-03-01


    Size :

    1017555 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English





    Conflict Alerting Functionality for Autonomous Vehicles

    Zhao, Yiyuan / Rock, Dennis | AIAA | 2002


    Conflict Alerting Functionality for Autonomous Vehicles

    Rock, D. / Zhao, Y. / American Institute of Aeronautics and Astronautics | British Library Conference Proceedings | 2002


    BIOMETRIC AUTHENTICATION FOR CONNECTED VEHICLES INCLUDING AUTONOMOUS VEHICLES

    LOPEZ-HINOJOSA BRENNAN T / LOPEZ KERMIT D | European Patent Office | 2018

    Free access