This paper proposes a consensus protocol that a set of Autonomous Vehicles (AVs) can apply when they cross an intersection. The object is to avoid collisions and minimize the delay or the anticipation with respect to a forecast exit time from the intersection. The peculiarity of the proposed approach is not using a traffic manager and a coordinator of the vehicles. A large simulation campaign shows that the AVs are able to reach a solution in short time and with a small number of iterations.
A Consensus Protocol for Connecting Automated Vehicles at Signal-Free Intersection / Difilippo, G., Fanti, M.P., Mangini, A.M.. - 2022-:(2022), pp. 6568-6573. (61st IEEE Conference on Decision and Control, CDC 2022 JW Marriott and Marriot Resort, mex 2022) [10.1109/CDC51059.2022.9993242].
A Consensus Protocol for Connecting Automated Vehicles at Signal-Free Intersection
Difilippo G.;Fanti M. P.;Mangini A. M.
2022
Abstract
This paper proposes a consensus protocol that a set of Autonomous Vehicles (AVs) can apply when they cross an intersection. The object is to avoid collisions and minimize the delay or the anticipation with respect to a forecast exit time from the intersection. The peculiarity of the proposed approach is not using a traffic manager and a coordinator of the vehicles. A large simulation campaign shows that the AVs are able to reach a solution in short time and with a small number of iterations.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
