Collision-Aware Communication for Intersection Management of Automated Vehicles
Artikel i vetenskaplig tidskrift, 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.

cooperative intersection management

vehicular communication

automated vehicles

cooperative driving

Intelligent transportation systems

collision avoidance

resource allocation


Erik M Steinmetz

Chalmers, Elektroteknik, Kommunikation, Antenner och Optiska Nätverk

RISE Research Institutes of Sweden

Robert Hult

Chalmers, Elektroteknik, System- och reglerteknik

Zhenhua Zou

Ericsson AB

Ragne Emardson

Högskolan i Borås

Fredrik Brännström

Chalmers, Elektroteknik, Kommunikation, Antenner och Optiska Nätverk

Paolo Falcone

Chalmers, Elektroteknik, System- och reglerteknik

Henk Wymeersch

Chalmers, Elektroteknik, Kommunikation, Antenner och Optiska Nätverk

IEEE Access

2169-3536 (ISSN) 21693536 (eISSN)

Vol. 6 77359-77371 8542751

COPPLAR CampusShuttle cooperative perception & planning platform

VINNOVA (2015-04849), 2016-01-01 -- 2018-12-31.




Inbäddad systemteknik



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