Collision-Aware Communication for Intersection Management of Automated Vehicles
Journal article, 2018

Intersection management of automated vehicles relies on wireless communication, whereby communication resources should be allocated to vehicles while maintaining safety. We present a collision-aware resource allocation (CARA) strategy for coordination of automated and connected vehicles by a centralized intersection manager. The proposed strategy is based on a self-triggered approach and proactively reduces the risk of channel congestion by only assigning communication resources to vehicles that are in critical configurations, i.e., when there is a risk for a future collision. Compared with collision-agnostic communication strategies, typically considered for automated intersection management, the CARA strategy aims to bridge the gap between control, sensing, and communication. It is shown to significantly reduce the required amount of communication (albeit with a slight increase in the control cost), without compromising safety. Furthermore, control cost can be reduced by allowing more frequent communication, which we demonstrate through a trade-off analysis between control performance and communication load. Hence, CARA can operate in communication-limited scenarios, but also be modified for scenarios where the control cost is of primary interest.

collision avoidance

cooperative intersection management

cooperative driving

vehicular communication

resource allocation

automated vehicles

Intelligent transportation systems

Author

Erik M Steinmetz

Chalmers, Electrical Engineering, Communication and Antenna Systems, Communication Systems

RISE Research Institutes of Sweden

Robert Hult

Chalmers, Electrical Engineering, Systems and control, Mechatronics

Zhenhua Zou

Ericsson, Göteborg

Ragne Emardson

University of Borås

Fredrik Brännström

Chalmers, Electrical Engineering, Communication and Antenna Systems, Communication Systems

Paolo Falcone

Chalmers, Electrical Engineering, Systems and control, Mechatronics

Henk Wymeersch

Chalmers, Electrical Engineering, Communication and Antenna Systems, Communication Systems

IEEE Access

2169-3536 (ISSN)

Vol. 6 77359-77371

COPPLAR CampusShuttle cooperative perception & planning platform

VINNOVA, 2016-01-01 -- 2018-12-31.

Subject Categories

Telecommunications

Communication Systems

Embedded Systems

DOI

10.1109/ACCESS.2018.2882607

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Latest update

5/2/2019 1