Cooperative Collision Avoidance at Intersections: Algorithms and Experiments
Name
Del Vecchio_Cooperative collision.pdf
Size
1.29 MB
Format
Adobe PDF
Checksum (MD5)
dd56ef675b7228c55f495decd46ccbbe
Author(s)
Hafner, Michael R.
Cunningham, Drew
Caminiti, Lorenzo
Del Vecchio, Domitilla
Date Issued
August 2013
Journal
IEEE Transactions on Intelligent Transportation Systems
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Hafner, Michael R., Drew Cunningham, Lorenzo Caminiti, and Domitilla Del Vecchio. “Cooperative Collision Avoidance at Intersections: Algorithms and Experiments.” IEEE Transactions on Intelligent Transportation Systems 14, no. 3 (September 2013): 1162–1175.
Version
Author's final manuscript
Abstract
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.
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/TITS.2013.2252901
