Distributed algorithm for collision avoidance at road intersections in the presence of communication failures

Vladimir Savic; Elad M. Schiller; Marina Papatriantafilou

doi:10.1109/IVS.2017.7995846

Distributed algorithm for collision avoidance at road intersections in the presence of communication failures

Vladimir Savic, Elad M. Schiller, Marina Papatriantafilou

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

14 Scopus citations

Abstract

Vehicle-To-vehicle (V2V) communication is a crucial component of the future autonomous driving systems since it enables improved awareness of the surrounding environment, even without extensive processing of sensory information. However, V2V communication is prone to failures and delays, so a distributed fault-Tolerant approach is required for safe and efficient transportation. In this paper, we focus on the intersection crossing (IC) problem with autonomous vehicles that cooperate via V2V communications, and propose a novel distributed IC algorithm that can handle an unknown and large (yet finite) number of communication failures. Our analysis shows that both safety and liveness requirements are satisfied in all realistic situations. We also found, based on a real data set, that the crossing delay is only slightly increased even in the presence of highly correlated failures.

Original language	English
Title of host publication	IV 2017 - 28th IEEE Intelligent Vehicles Symposium
Publisher	Institute of Electrical and Electronics Engineers
Pages	1005-1012
Number of pages	8
ISBN (Electronic)	9781509048045
DOIs	https://doi.org/10.1109/IVS.2017.7995846
State	Published - 28 Jul 2017
Externally published	Yes
Event	28th IEEE Intelligent Vehicles Symposium, IV 2017 - Redondo Beach, United States Duration: 11 Jun 2017 → 14 Jun 2017

Publication series

Name	IEEE Intelligent Vehicles Symposium, Proceedings

Conference

Conference	28th IEEE Intelligent Vehicles Symposium, IV 2017
Country/Territory	United States
City	Redondo Beach
Period	11/06/17 → 14/06/17

ASJC Scopus subject areas

Computer Science Applications
Automotive Engineering
Modeling and Simulation

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/IVS.2017.7995846

Cite this

Savic, V., Schiller, E. M., & Papatriantafilou, M. (2017). Distributed algorithm for collision avoidance at road intersections in the presence of communication failures. In IV 2017 - 28th IEEE Intelligent Vehicles Symposium (pp. 1005-1012). Article 7995846 (IEEE Intelligent Vehicles Symposium, Proceedings). Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/IVS.2017.7995846

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title = "Distributed algorithm for collision avoidance at road intersections in the presence of communication failures",

abstract = "Vehicle-To-vehicle (V2V) communication is a crucial component of the future autonomous driving systems since it enables improved awareness of the surrounding environment, even without extensive processing of sensory information. However, V2V communication is prone to failures and delays, so a distributed fault-Tolerant approach is required for safe and efficient transportation. In this paper, we focus on the intersection crossing (IC) problem with autonomous vehicles that cooperate via V2V communications, and propose a novel distributed IC algorithm that can handle an unknown and large (yet finite) number of communication failures. Our analysis shows that both safety and liveness requirements are satisfied in all realistic situations. We also found, based on a real data set, that the crossing delay is only slightly increased even in the presence of highly correlated failures.",

author = "Vladimir Savic and Schiller, {Elad M.} and Marina Papatriantafilou",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 28th IEEE Intelligent Vehicles Symposium, IV 2017 ; Conference date: 11-06-2017 Through 14-06-2017",

year = "2017",

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doi = "10.1109/IVS.2017.7995846",

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Savic, V, Schiller, EM & Papatriantafilou, M 2017, Distributed algorithm for collision avoidance at road intersections in the presence of communication failures. in IV 2017 - 28th IEEE Intelligent Vehicles Symposium., 7995846, IEEE Intelligent Vehicles Symposium, Proceedings, Institute of Electrical and Electronics Engineers, pp. 1005-1012, 28th IEEE Intelligent Vehicles Symposium, IV 2017, Redondo Beach, United States, 11/06/17. https://doi.org/10.1109/IVS.2017.7995846

Distributed algorithm for collision avoidance at road intersections in the presence of communication failures. / Savic, Vladimir; Schiller, Elad M.; Papatriantafilou, Marina.
IV 2017 - 28th IEEE Intelligent Vehicles Symposium. Institute of Electrical and Electronics Engineers, 2017. p. 1005-1012 7995846 (IEEE Intelligent Vehicles Symposium, Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - Vehicle-To-vehicle (V2V) communication is a crucial component of the future autonomous driving systems since it enables improved awareness of the surrounding environment, even without extensive processing of sensory information. However, V2V communication is prone to failures and delays, so a distributed fault-Tolerant approach is required for safe and efficient transportation. In this paper, we focus on the intersection crossing (IC) problem with autonomous vehicles that cooperate via V2V communications, and propose a novel distributed IC algorithm that can handle an unknown and large (yet finite) number of communication failures. Our analysis shows that both safety and liveness requirements are satisfied in all realistic situations. We also found, based on a real data set, that the crossing delay is only slightly increased even in the presence of highly correlated failures.

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Distributed algorithm for collision avoidance at road intersections in the presence of communication failures

Abstract

Publication series

Conference

ASJC Scopus subject areas

UN SDGs

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