A Cooperative Algorithm for Lane Sorting of Autonomous Vehicles

Chouhan, Aaditya Prakash; Banda, Gourinath; Jothibasu, Kanishkar

doi:10.1109/access.2020.2993200

Cited by 11 publications

(8 citation statements)

References 14 publications

(14 reference statements)

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“…In most of the research about multilane intersection coordination, this problem is often ignored or assumed to be solved before vehicles reaching the intersections (Chen et al, 2021;Phan et al, 2020). In the existing few studies that focus on this problem, rulebased methods and priority-based First-In-First-Out (FIFO) methods are often considered (Chouhan et al, 2020;. Chouhan et al (2020) proposes a priority-based method to guide vehicles to change to their target lanes, but the lane changing time and length of road is unlimited, which makes it hard to be applied to the real world.…”

Section: Introductionmentioning

confidence: 99%

Formation Control with Lane Preference for Connected and Automated Vehicles in Multi-lane Scenarios

Cai¹,

Chen²,

Wang³

et al. 2021

Preprint

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Multi-lane roads are typical scenarios in the real-world traffic system. Vehicles usually have preference on lanes according to their routes and destinations. Few of the existing studies looks into the problem of controlling vehicles to drive on their desired lanes. This paper proposes a formation control method that considers vehicles' preference on different lanes. The bi-level formation control framework is utilized to plan collision-free motion for vehicles, where relative target assignment and path planning are performed in the upper level, and trajectory planning and tracking are performed in the lower level. The collision-free multi-vehicle path planning problem considering lane preference is decoupled into two sub problems: calculating assignment list with non-decreasing cost and planning collision-free paths according to given assignment result. The Conflict-based Searching (CBS) method is utilized to plan collision-free paths for vehicles based on given assignment results. Case study is conducted and simulations are carried out in a three-lane road scenario. The results indicate that the proposed formation control method significantly reduces congestion and improves traffic efficiency at high traffic volumes, compared to the rule-based method.

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Section: Introductionmentioning

confidence: 99%

Formation Control with Lane Preference for Connected and Automated Vehicles in Multi-lane Scenarios

Cai¹,

Chen²,

Wang³

et al. 2021

Preprint

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“…A future direction of our research is to permit the lane-changing behavior, i.e., the CAVs are allowed to change lanes while approaching the intersection. Several practical methods [38,39] have been proposed to apply the lane changing behavior of multiple CAVs. It is interesting to combine these works to further extend the intersection scenario, which will be considered in our future research.…”

Section: Discussionmentioning

confidence: 99%

Conflict-free Cooperation Method for Connected and Automated Vehicles at Unsignalized Intersections: Graph-based Modeling and Optimality Analysis

Chen¹,

Xu²,

Cai³

et al. 2021

Preprint

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Connected and automated vehicles have shown great potential in improving traffic mobility and reducing emissions, especially at unsignalized intersections. Previous research has shown that vehicle passing order is the key influencing factor in improving intersection traffic mobility. In this paper, we propose a graph-based cooperation method to formalize the conflict-free scheduling problem at an unsignalized intersection. Based on graphical analysis, a vehicle's trajectory conflict relationship is modeled as a conflict directed graph and a coexisting undirected graph. Then, two graph-based methods are proposed to find the vehicle passing order. The first is an improved depth-first spanning tree algorithm, which aims to find the local optimal passing order vehicle by vehicle. The other novel method is a minimum clique cover algorithm, which identifies the global optimal solution. Finally, a distributed control framework and communication topology are presented to realize the conflict-free cooperation of vehicles. Extensive numerical simulations are conducted for various numbers of vehicles and traffic volumes, and the simulation results prove the effectiveness of the proposed algorithms.

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“…In total, in this work, we present a systematic approach of modeling an AIM algorithm, injecting traffic non-deterministically (or deterministically), simplified representation of vehicles and collisions in conflict point based scenarios, formal verification of AIM algorithms and implementation verification of the model using the Uppaal-SMC model checker. Our future work will be directed towards formally modeling the cooperative behavior of vehicles and optimization based decision making algorithms to formally verify the Cooperative Lane Sorting algorithm given in Reference [2].…”

Section: Discussionmentioning

confidence: 99%

“…Using this technology vehicles will be able to not only pass through any scenario in the most efficient way rather will also be able to plan ahead for coming scenarios by making favourable organizations. For instance, Reference [ 1 ] proposes a solution for intersection management of a traffic consisting of autonomous vehicles only and Reference [ 2 ] gives a cooperative algorithm for arranging vehicles in lane according to their destination direction at the intersection. Scenarios can change and with the scenario, the communication architecture, controlling policy and so forth, may change to suit the requirements.…”

Section: Introductionmentioning

confidence: 99%

Formal Verification of Heuristic Autonomous Intersection Management Using Statistical Model Checking

Chouhan

Banda

2020

Sensors

Self Cite

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Autonomous vehicles are gaining popularity throughout the world among researchers and consumers. However, their popularity has not yet reached the level where it is widely accepted as a fully developed technology as a large portion of the consumer base feels skeptical about it. Proving the correctness of this technology will help in establishing faith in it. That is easier said than done because of the fact that the formal verification techniques has not attained the level of development and application that it is ought to. In this work, we present Statistical Model Checking (SMC) as a possible solution for verifying the safety of autonomous systems and algorithms. We apply it on Heuristic Autonomous Intersection Management (HAIM) algorithm. The presented verification routine can be adopted for other conflict point based autonomous intersection management algorithms as well. Along with verifying the HAIM, we also demonstrate the modeling and verification applied at each stage of development to verify the inherent behavior of the algorithm. The HAIM scheme is formally modeled using a variant of the language of Timed Automata. The model consists of automata that encode the behavior of vehicles, intersection manager (IM) and collision checkers. To verify the complete nature of the heuristic and ensure correct modeling of the system, we model it in layers and verify each layer separately for their expected behavior. Along with that, we perform implementation verification and error injection testing to ensure faithful modeling of the system. Results show with high confidence the freedom from collisions of the intersection controlled by the HAIM algorithm.

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A Cooperative Algorithm for Lane Sorting of Autonomous Vehicles

Cited by 11 publications

References 14 publications

Formation Control with Lane Preference for Connected and Automated Vehicles in Multi-lane Scenarios

Formation Control with Lane Preference for Connected and Automated Vehicles in Multi-lane Scenarios

Conflict-free Cooperation Method for Connected and Automated Vehicles at Unsignalized Intersections: Graph-based Modeling and Optimality Analysis

Formal Verification of Heuristic Autonomous Intersection Management Using Statistical Model Checking

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