TY - GEN
T1 - Collision free autonomous ground traffic
T2 - 2013 ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2013
AU - Kim, Kyoung Dae
PY - 2013
Y1 - 2013
N2 - Even with recent advances in electronics, sensors, and communication technologies, it is still a grand challenge to develop an autonomous transportation system in which each vehicle can autonomously coordinate with other vehicles and drive itself on a road with a safety guarantee. We propose an approach to address this challenge. We formulate a Model Predictive Control (MPC) problem to generate a feasible trajectory for a vehicle. Constraints are particularly designed to ensure inter-vehicle safety. To further achieve system-wide safety and liveness, we additionally propose several simple yet effective rules for vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) coordination. We establish system-wide safety and also liveness of the resulting autonomous traffic in various traffic situations such as single lane traffic, multi-lane traffic, and intersection crossing traffic.
AB - Even with recent advances in electronics, sensors, and communication technologies, it is still a grand challenge to develop an autonomous transportation system in which each vehicle can autonomously coordinate with other vehicles and drive itself on a road with a safety guarantee. We propose an approach to address this challenge. We formulate a Model Predictive Control (MPC) problem to generate a feasible trajectory for a vehicle. Constraints are particularly designed to ensure inter-vehicle safety. To further achieve system-wide safety and liveness, we additionally propose several simple yet effective rules for vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) coordination. We establish system-wide safety and also liveness of the resulting autonomous traffic in various traffic situations such as single lane traffic, multi-lane traffic, and intersection crossing traffic.
KW - Autonomous Vehicles
KW - Intelligent Intersections
KW - Liveness
KW - Model Predictive Control
KW - Motion Planning
KW - Safety
UR - http://www.scopus.com/inward/record.url?scp=84885236538&partnerID=8YFLogxK
U2 - 10.1109/ICCPS.2013.6603999
DO - 10.1109/ICCPS.2013.6603999
M3 - Conference contribution
AN - SCOPUS:84885236538
SN - 9781450319966
T3 - 2013 ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2013
SP - 51
EP - 60
BT - 2013 ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2013
Y2 - 8 April 2013 through 11 April 2013
ER -