Collision-Aware Communication for Intersection Management of Automated Vehicles

• 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.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Telekommunikation (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Telecommunications (hsv//eng)

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Kommunikationssystem (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Communication Systems (hsv//eng)

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Inbäddad systemteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Embedded Systems (hsv//eng)

Nyckelord

Resource management

Safety

Uncertainty

Roads

Wireless communication

Schedules

Stochastic processes

Intelligent transportation systems

cooperative intersection management

cooperative driving

automated vehicles

vehicular communication

resource allocation

collision avoidance

Publikations- och innehållstyp

ref (ämneskategori)

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