In this paper, we leverage vehicle-to-vehicle (V2V) communication technology to implement computationally efficient decentralized algorithms for two-vehicle cooperative collision avoidance at intersections. Our algorithms employ formal control theoretic methods to guarantee a collision-free (safe) system, whereas overrides are only applied when necessary to prevent a crash. Model uncertainty and communication delays are explicitly accounted for by the model and by the state estimation algorithm. The main contribution of this work is to provide an experimental validation of our method on two instrumented vehicles engaged in an intersection collision avoidance scenario in a test track.
Cooperative Collision Avoidance at Intersections: Algorithms and Experiments
IEEE Transactions on Intelligent Transportation Systems ; 14 , 3 ; 1162-1175
2013-09-01
1408733 byte
Article (Journal)
Electronic Resource
English
Cooperative Collision Avoidance at Intersections: Algorithms and Experiments
Online Contents | 2013
|Cooperative Collision Avoidance at Intersections: Algorithms and Experiments
DSpace@MIT | 2013
|Navigation Assisted Collision Avoidance At Intersections
European Patent Office | 2018
|Navigation assisted collision avoidance at intersections
European Patent Office | 2019
|Vehicular Networks for Collision Avoidance at Intersections
SAE Technical Papers | 2011
|