Mélanie Bouroche, Barbara Hughes and Vinny Cahill, Real-Time Coordination of Autonomous Vehicles, Proceedings of the IEEE ITSC 2006, IEEE Intelligent Transportation Systems Conference, Toronto, Canada,, Sept 17-20, IEEE, 2006, 1232 - 1239
Autonomous vehicles seem to be a promising approach
to both reducing traffic congestion and improving road
safety. However, for such vehicles to coexist safely, they will
need to coordinate their behaviour to ensure that they do
not collide with each other. This coordination will typically be
based on (wireless) communication between vehicles and will
need to satisfy stringent real-time constraints. However, realtime
message delivery cannot be guaranteed in dynamic wireless
networks which means that existing coordination models that
rely on continuous connectivity cannot be employed.
In this paper, we present a novel coordination model for
autonomous vehicles that does not require continuous real-time
connectivity between participants in order to ensure that system
safety constraints are not violated. This coordination model builds
on a real-time communication model for wireless networks that
provides feedback to entities about the state of communication.
The coordination model uses this feedback to ensure that vehicles
always satisfy safety constraints, by adapting their behaviour
when communication is degraded. We show that this model can
be used to coordinate vehicles crossing an unsignalised junction.
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