Semi-autonomous intersection collision avoidance through job-shop scheduling

DOI10.1145/2883817.2883830MaRDI QIDQ2988983zbMATH OpenOpenAlexFDO

Authors Heejin Ahn, Domitilla Del Vecchio

Publication date 19 May 2017

Published in Proceedings of the 19th International Conference on Hybrid Systems: Computation and Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1510.07026

zbMATH Keywords

collision detectionintersection collision avoidancemulti-vehicle controlschedulingsupervisory controlverification

Mathematics Subject Classification ID

Specification and verification (program logics, model checking, etc.) (68Q60) Traffic problems in operations research (90B20) Deterministic scheduling theory in operations research (90B35) Mixed integer programming (90C11) Decentralized systems (93A14) Automated systems (robots, etc.) in control theory (93C85)

Abstract: In this paper, we design a supervisor to prevent vehicle collisions at intersections. An intersection is modeled as an area containing multiple conflict points where vehicle paths cross in the future. At every time step, the supervisor determines whether there will be more than one vehicle in the vicinity of a conflict point at the same time. If there is, then an impending collision is detected, and the supervisor overrides the drivers to avoid collision. A major challenge in the design of a supervisor as opposed to an autonomous vehicle controller is to verify whether future collisions will occur based on the current drivers choices. This verification problem is particularly hard due to the large number of vehicles often involved in intersection collision, to the multitude of conflict points, and to the vehicles dynamics. In order to solve the verification problem, we translate the problem to a job-shop scheduling problem that yields equivalent answers. The job-shop scheduling problem can, in turn, be transformed into a mixed-integer linear program when the vehicle dynamics are first-order dynamics, and can thus be solved by using a commercial solver.

Recommendations

• Efficient algorithms for collision avoidance at intersections
• Supervisory control for collision avoidance in vehicular networks using discrete event abstractions
• Contention-resolving model predictive control for an intelligent intersection traffic model
• Scheduling autonomous vehicle platoons through an unregulated intersection
• Safety and Liveness in Intelligent Intersections

Cited in

(4)

• Least Restrictive Supervisors for Intersection Collision Avoidance: A Scheduling Approach
• Efficient algorithms for collision avoidance at intersections
• Supervisory control for collision avoidance in vehicular networks using discrete event abstractions
• Scheduling autonomous vehicle platoons through an unregulated intersection

This page was built for publication: Semi-autonomous intersection collision avoidance through job-shop scheduling

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q2988983)