Supervisory control for intersection collision avoidance in the presence of uncontrolled vehicles
Name
Del Vecchio_Supervisory contril.pdf
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291.03 KB
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Author(s)
Ahn, Heejin
Colombo, Alessandro
Del Vecchio, Domitilla
Date Issued
June 2014
Journal
Proceedings of the 2014 American Control Conference
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Ahn, Heejin, Alessandro Colombo, and Domitilla Del Vecchio. “Supervisory Control for Intersection Collision Avoidance in the Presence of Uncontrolled Vehicles.” 2014 American Control Conference (June 2014).
Version
Author's final manuscript
Abstract
This paper describes the design of a supervisory controller (supervisor) that manages controlled vehicles to avoid intersection collisions in the presence of uncontrolled vehicles. Two main problems are addressed: verification of the safety of all vehicles at an intersection, and management of the inputs of controlled vehicles. For the verification problem, we employ an inserted idle-time scheduling approach, where the “inserted idle-time” is a time interval when the intersection is deliberately held idle for uncontrolled vehicles to safely cross the intersection. For the management problem, we design a supervisor that is least restrictive in the sense that it overrides controlled vehicles only when a safety violation becomes imminent. We analyze computational complexity and propose an efficient version of the supervisor with a quantified approximation bound.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ACC.2014.6859163
