A virtual vehicle based coordination framework for Autonomous Vehicles in heterogeneous scenarios

Debada, Ezequiel; Makarem, Laleh; Gillet, Denis

doi:10.1109/icves.2017.7991900

Cited by 9 publications

(3 citation statements)

References 12 publications

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“…In recent studies, several coordination frameworks and mechanisms for cooperative vehicles have been studied. For instance, Debada et al [57] proposed a coordination framework for Connected Autonomous Vehicles (CAVs) based on the concept of virtual vehicles. Santos et al [58] presented a simulator framework for cooperative vehicle systems and also a test case for validation.…”

Section: Simulation and Verificationmentioning

confidence: 99%

Service-Oriented Cooperation Policies for Intelligent Ground Vehicles Approaching Intersections

et al. 2018

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With the coming of intelligent vehicles and vehicular communication, Intelligent Transportation Systems (ITS) of connected vehicles are emerging and now evolving to Cooperative-ITS (C-ITS), as service platforms for smart cities. Considering new service properties, the autonomous cooperation of such vehicles has exhibited novel QoS features that imply new requirements: guaranteeing the traffic efficiency of any emergent vehicle while trying to promote the throughput at an intersection. So, after analyzing the classic reservation-based cooperation mechanisms, new QoS-oriented cooperation methods and policies are studied in this work. Concretely, several models of related traffic objects we have proposed are firstly introduced briefly. Then, the scheduling policies of vehicles approaching an intersection have been presented, including three existing policies (FAFP-SV, FAFP-SQ, and HQEP-SV) and five new polices (FAFP-SQ-SV, FAFP-MQ, HWFP-SQ, HWFP-SQ-SV, HWFP-MQ). These policies combine two major factors: vehicular priority for scheduling and concurrency in traffics. The first one includes the vehicular arrival-time, priority mapped to QoS, and the weight of reserved vehicles on a lane etc. In addition, the second refers to schedule a platoon rather than single vehicle each time, or platoons on different lanes instead of one platoon on only one lane. All these policies have been implemented, and further, verified within the parameter-configurable traffic simulator QoS-CITS (v2.1) we designed and developed with C#. Abundant experiments have been conducted with configured typical traffic scenes, and experimental results show that HWFP-SQ-SV and HWFP-MQ can guarantee both the QoS of emergent vehicles and traffic throughput better than other six policies.

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Section: Simulation and Verificationmentioning

confidence: 99%

Service-Oriented Cooperation Policies for Intelligent Ground Vehicles Approaching Intersections

et al. 2018

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“…Another approach involves computing and avoiding situations that would necessarily lead to a collision even with emergency braking [33]. Finally, the Autonomous Intersection Management Protocol (AIM) [6], [30] and virtual platoon methods [9], [26] have shown interesting properties.…”

Section: Introductionmentioning

confidence: 99%

Roundabout Crossing With Interval Occupancy and Virtual Instances of Road Users

Masi

2022

IEEE Trans. Intell. Transport. Syst.

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Although autonomous vehicle technology has evolved significantly in recent years, the navigation of self-driving vehicles in complex scenarios is still an open issue. One of the major challenges in these conditions is safe navigation on roads open to public traffic. The main issue is the interaction of the autonomous vehicle with regular traffic, as the behaviors and intentions of human-driven vehicles are hard to predict and understand. In this paper we propose a strategy to allow an autonomous vehicle to safely cross a multi-lane roundabout. Our approach uses a High-Definition (HD) map to predict at lane level the future situation, harnessing the concept of virtual instances of road users, which is a key concept in anticipating the situation in a roundabout that can be represented by a navigation graph with loops. This paper presents a methodology that uses intervals representing road occupancy by vehicles, with the road being widened to reflect uncertainties in localization. Our method safely avoids collisions and guarantees that no priority constraints are violated during the insertion maneuver. Moreover, the method does not provide an overly cautious insertion policy, i.e., an autonomous vehicle does not wait for a long time before the insertion. The performance of our strategy was evaluated using the SUMO simulation framework. To better evaluate the complexity of the simulation scenario, a highly interactive vehicle flow was generated using real dynamic traffic data from the INTERACTION dataset. We report real tests carried out with an experimental self-driving vehicle on a test circuit. Our results show that this approach is easy to integrate into an embedded system and that it allows roundabouts to be crossed with a high level of safety.

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“…Computing and avoiding the situations where a collision is unavoidable even if an emergency braking is executed is another way to address the problem [2]. Finally, the autonomous intersection management protocol (AIM) [3] [23] and virtual platoon methods [20] [5] have shown interesting properties.…”

Section: Introductionmentioning

confidence: 99%

A Curvilinear Decision Method for Two-lane Roundabout Crossing and its Validation under Realistic Traffic Flow

Masi

2020

2020 IEEE Intelligent Vehicles Symposium (IV)

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Autonomous vehicles navigation in complex scenarios is still an open issue. One of the major challenges is the safe navigation of autonomous vehicles on roads open to public traffic. Indeed, behaviors and intentions of human-driven vehicles are hard to predict and understand. In this paper, we propose a strategy to make an autonomous vehicle able to cross safely a roundabout. Our approach relies on High-Definition (HD) maps with lane level description which allows to predict the future situation thanks to the concept of virtual vehicles. This method handles safely collision avoidance and guarantees that no priority constraint is violated during the insertion maneuver without being overly cautious. The performance is evaluated with the SUMO simulation framework. An highly interactive vehicles flow has been generated using real data from the INTERACTION dataset. We also propose strategies to extend our algorithm to multi-lane roundabouts and report how these extensions behave in terms of safety and traffic flow.

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A virtual vehicle based coordination framework for Autonomous Vehicles in heterogeneous scenarios

Cited by 9 publications

References 12 publications

Service-Oriented Cooperation Policies for Intelligent Ground Vehicles Approaching Intersections

Service-Oriented Cooperation Policies for Intelligent Ground Vehicles Approaching Intersections

Roundabout Crossing With Interval Occupancy and Virtual Instances of Road Users

A Curvilinear Decision Method for Two-lane Roundabout Crossing and its Validation under Realistic Traffic Flow

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