Supervisory control for intersection collision avoidance in the presence of uncontrolled vehicles
Author(s)Ahn, Heejin; Colombo, Alessandro; Del Vecchio, Domitilla
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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.
DepartmentMassachusetts Institute of Technology. Department of Mechanical Engineering
Proceedings of the 2014 American Control Conference
Institute of Electrical and Electronics Engineers (IEEE)
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).
Author's final manuscript