Semi-autonomous Intersection Collision Avoidance through Job-shop Scheduling
Name
Del Vecchio_SEmi-autonomous.pdf
Size
1.16 MB
Format
Adobe PDF
Checksum (MD5)
53a42220a2bb4b13604075c1f07dcd37
Author(s)
Ahn, Heejin
Del Vecchio, Domitilla
Date Issued
April 2016
Journal
Proceedings of the 19th International Conference on Hybrid Systems: Computation and Control - HSCC '16
Publisher
Association for Computing Machinery (ACM)
Citation
Ahn, Heejin, and Domitilla Del Vecchio. “Semi-Autonomous Intersection Collision Avoidance through Job-Shop Scheduling.” ACM Press, 2016. 185–194.
Version
Author's final manuscript
Abstract
In this paper, we design a supervisor to prevent vehicle collisions at intersections. An intersection is modeled as an area containing multiple conflict points where vehicle paths cross in the future. At every time step, the supervisor determines whether there will be more than one vehicle in the vicinity of a conflict point at the same time. If there is, then an impending collision is detected, and the supervisor overrides the drivers to avoid collision. A major challenge in the design of a supervisor as opposed to an autonomous vehicle controller is to verify whether future collisions will occur based on the current drivers choices. This verification problem is particularly hard due to the large number of vehicles often involved in intersection collision, to the multitude of conflict points, and to the vehicles dynamics. In order to solve the verification problem, we translate the problem to a job-shop scheduling problem that yields equivalent answers. The job-shop scheduling problem can, in turn, be transformed into a mixed-integer linear program when the vehicle dynamics are first-order dynamics, and can thus be solved by using a commercial solver.
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/10.1145/2883817.2883830
