research-article

A merging protocol for self-driving vehicles

Authors:

Ragunathan (Raj) RajkumarAuthors Info & Claims

ICCPS '17: Proceedings of the 8th International Conference on Cyber-Physical Systems

Pages 219 - 228

https://doi.org/10.1145/3055004.3055028

Published: 18 April 2017 Publication History

Abstract

Self-driving vehicle technologies are progressing rapidly and are expected to play a significant role in the future of transportation. One of the main challenges for self-driving vehicles on public roads is the safe cooperation and collaboration among multiple vehicles using sensor-based perception and inter-vehicle communications. When self-driving vehicles try to occupy the same spatial area simultaneously, they might collide with one another, might become deadlocked, or might slam on the brakes making it uncomfortable or unsafe for passengers in a self-driving vehicle. In this paper, we study how a self-driving vehicle can safely navigate merge points, where two lanes with different priorities meet. We present a safe protocol for merge points named Autonomous Vehicle Protocol for Merge Points, where self-driving vehicles use both vehicular communications and their own perception systems for cooperating with other self-driving and/or human-driven vehicles. Our simulation results show that our traffic protocol has higher traffic throughput, compared to simple traffic protocols, while ensuring safety.

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Cited By

Khayatian MMehrabian MTseng ILin CBelta CShrivastava A(2024)Cooperative Driving of Connected Autonomous vehicle using Responsibility Sensitive Safety Rules: A Control Barrier Functions ApproachACM Transactions on Cyber-Physical Systems10.1145/36480048:3(1-26)Online publication date: 18-Apr-2024
https://dl.acm.org/doi/10.1145/3648004
Häfner BOtt JSchmitt G(2023)Evaluating Protocols for Cooperative Maneuvers Among Connected and Automated Vehicles2023 IEEE Vehicular Networking Conference (VNC)10.1109/VNC57357.2023.10136344(128-135)Online publication date: 26-Apr-2023
https://doi.org/10.1109/VNC57357.2023.10136344
Aoki SRajkumar R(2022)Cyber Traffic Light: Safe Cooperation for Autonomous Vehicles at Dynamic IntersectionsIEEE Transactions on Intelligent Transportation Systems10.1109/TITS.2022.314645723:11(22519-22534)Online publication date: Nov-2022
https://doi.org/10.1109/TITS.2022.3146457
Show More Cited By

Index Terms

A merging protocol for self-driving vehicles
1. Computer systems organization
  1. Embedded and cyber-physical systems
2. Networks
  1. Network types

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Published In

cover image ACM Other conferences

ICCPS '17: Proceedings of the 8th International Conference on Cyber-Physical Systems

April 2017

294 pages

ISBN:9781450349659

DOI:10.1145/3055004

General Chairs:
Sonia Martinez
University of California, San Diego
,
Eduardo Tovar
CISTER/INESC TEC, ISEP, Portugal
,
Program Chairs:
Chris Gill
Washington University in St. Louis
,
Bruno Sinopoli
Carnegie Mellon University

Copyright © 2017 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 18 April 2017

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ICCPS '17

ICCPS '17: ACM/IEEE 8th International Conference on Cyber-Physical Systems

April 18 - 20, 2017

Pennsylvania, Pittsburgh

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Overall Acceptance Rate 25 of 91 submissions, 27%

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Cited By

Khayatian MMehrabian MTseng ILin CBelta CShrivastava A(2024)Cooperative Driving of Connected Autonomous vehicle using Responsibility Sensitive Safety Rules: A Control Barrier Functions ApproachACM Transactions on Cyber-Physical Systems10.1145/36480048:3(1-26)Online publication date: 18-Apr-2024
https://dl.acm.org/doi/10.1145/3648004
Häfner BOtt JSchmitt G(2023)Evaluating Protocols for Cooperative Maneuvers Among Connected and Automated Vehicles2023 IEEE Vehicular Networking Conference (VNC)10.1109/VNC57357.2023.10136344(128-135)Online publication date: 26-Apr-2023
https://doi.org/10.1109/VNC57357.2023.10136344
Aoki SRajkumar R(2022)Cyber Traffic Light: Safe Cooperation for Autonomous Vehicles at Dynamic IntersectionsIEEE Transactions on Intelligent Transportation Systems10.1109/TITS.2022.314645723:11(22519-22534)Online publication date: Nov-2022
https://doi.org/10.1109/TITS.2022.3146457
Aoki SRajkumar R(2022)Safe Intersection Management With Cooperative Perception for Mixed Traffic of Human-Driven and Autonomous VehiclesIEEE Open Journal of Vehicular Technology10.1109/OJVT.2022.31774373(251-265)Online publication date: 2022
https://doi.org/10.1109/OJVT.2022.3177437
Aoki SRaj Rajkumar R(2022)A-DRIVE: Autonomous Deadlock Detection and Recovery at Road Intersections for Connected and Automated Vehicles2022 IEEE Intelligent Vehicles Symposium (IV)10.1109/IV51971.2022.9827436(29-36)Online publication date: 5-Jun-2022
https://doi.org/10.1109/IV51971.2022.9827436
Hafner BBajpai VOtt JSchmitt G(2022)A Survey on Cooperative Architectures and Maneuvers for Connected and Automated VehiclesIEEE Communications Surveys & Tutorials10.1109/COMST.2021.313827524:1(380-403)Online publication date: Sep-2023
https://doi.org/10.1109/COMST.2021.3138275
Khayatian MMehrabian MAllamsetti HLiu KHuang PLin CShrivastava AMaggio MWeimer JAl Faruque MOishi M(2021)Cooperative driving of connected autonomous vehicles using responsibility-sensitive safety (RSS) rulesProceedings of the ACM/IEEE 12th International Conference on Cyber-Physical Systems10.1145/3450267.3450530(11-20)Online publication date: 19-May-2021
https://dl.acm.org/doi/10.1145/3450267.3450530
Mariani SCabri GZambonelli F(2021)Coordination of Autonomous VehiclesACM Computing Surveys10.1145/343123154:1(1-33)Online publication date: 11-Feb-2021
https://dl.acm.org/doi/10.1145/3431231
Liu MBui DTran DOgata K(2021)Formal Specification and Model Checking of an Autonomous Vehicle Merging Protocol2021 IEEE 21st International Conference on Software Quality, Reliability and Security Companion (QRS-C)10.1109/QRS-C55045.2021.00057(333-342)Online publication date: Dec-2021
https://doi.org/10.1109/QRS-C55045.2021.00057
Aoki SJan LZhao JBhat AChang CRajkumar R(2021)MultiCruise: Eco-Lane Selection Strategy with Eco-Cruise Control for Connected and Automated Vehicles2021 IEEE Intelligent Vehicles Symposium (IV)10.1109/IV48863.2021.9575585(302-308)Online publication date: 11-Jul-2021
https://doi.org/10.1109/IV48863.2021.9575585
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