Polling-systems-based Autonomous Vehicle Coordination in Traffic Intersections with No Traffic Signals
Name
1607.07896.pdf
Description
Submitted version
Size
5.51 MB
Format
Adobe PDF
Checksum (MD5)
9357a68ad246e9bab2cd848ebd6396d4
Author(s)
Miculescu, David
Karaman, Sertac
Date Issued
February 2020
Journal
IEEE Transactions on Automatic Control
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Miculescu, David and Sertac Karaman. “Polling-systems-based Autonomous Vehicle Coordination in Traffic Intersections with No Traffic Signals.” IEEE Transactions on Automatic Control, vol. 65, no. 2, 2020, pp. 680-694 © 2020 The Author(s)
Version
Original manuscript
Abstract
As autonomous vehicle technology advances rapidly, the design and operation of networks composed of fully autonomous vehicles have attracted immense interest. It is widely anticipated that fully autonomous vehicle networks will drastically improve performance. In this paper, we consider a widely studied problem, in which autonomous vehicles arriving at an intersection adjust their speeds to traverse the intersection as rapidly as possible, while avoiding collisions. We propose a coordination control algorithm, assuming stochastic models for the arrival times of the vehicles. The proposed algorithm extends the widely studied polling systems analysis to the case involving customers subject to second-order differential constraints. We provide provable guarantees on 1) safety, no collisions occur surely, and 2) performance, rigorous bounds on the expected delay. We also provide a stability analysis for the resulting queueing system. We demonstrate the algorithm in an extensive simulation study, providing one to two orders of magnitude improvement in delays over the traditional traffic light.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/TAC.2019.2921659
