Merge Algorithms for Intelligent Vehicles
There is an increased concern towards the design and development of computer-controlled automotive applications to improve safety, reduce accidents, increase traffic flow, and enhance comfort for drivers. Automakers are trying to make vehicles more intelligent by embedding processors which can be used to implement Electronic and Control Software (ECS) for taking smart decisions on the road or assisting the driver in doing the same. These ECS applications are high-integrity, distributed and real-time in nature. Inter-Vehicle Communication and Road-Vehicle Communication (IVC/RVC) mechanisms will only add to this intelligence by enabling distributed implementation of these applications. Our work studies one such application, namely Automatic Merge Control System, which ensures safe vehicle maneuver in the region where two roads intersect. We have discussed two approaches for designing this system both aimed at minimizing the Driving-Time- To-Intersection (DTTI) of vehicles, subject to certain constraints for ensuring safety. We have (i) formulated this system as an optimization problem which can be solved using standard solvers and (ii) proposed an intuitive approach namely, Head of Lane (HoL) algorithm which incurs less computational overhead compared to optimization formulation. Simulations carried out using Matlab and C++ demonstrate that the proposed approaches ensure safe vehicle maneuvering at intersection regions. In this ongoing work, we are implementing the system on robotic vehicular platforms built in our lab.
KeywordsIntersection Region Optimization Formulation Computational Overhead Intelligent Transportation System Safe Distance
Unable to display preview. Download preview PDF.
- Bruns, Tornsten and Munch, Eckehard (2006). Intersection management as self-organisation of mechatronic systems. In Proceedings of the 6th International Heinz Nixdorf Symposium on New Trends in Parallel and Distributed Computing, Paderborn, Germany.Google Scholar
- Coleman, Thomas, Branch, Mary Ann, and Grace, Andrew (1999). Optimization toolbox for use with matlab user’s guide version 2 January 1999, 3rd printing (For Release 11).Google Scholar
- Dresner, Kurt and Stone, Peter (2005). Multiagent traffic management: An improved intersection control mechanism. In Dignum, Frank, Dignum, Virginia, Koenig, Sven, Kraus, Sarit, Singh, Munindar P., and Wooldridge, Michael, editors, The Fourth International Joint Conference on Autonomous Agents and Multiagent Systems, New York, NY. ACM Press.Google Scholar
- Raravi, Gurulingesh, Sharma, Neera, Ramamritham, Krithi, and Malewar, Sachitanand (2006). Efficient real-time support for automotive applications: A case study. In Proceedings of the 12th IEEE International Conference on RTCSA, pages 335-341, Sydney, Australia.Google Scholar
- Uno, A. Sakaguchi, T. and Tsugawa, S. (1999). A merging control algorithm based on inter-vehicle communication. In IEEE International Conference on Intelligent Transportation Systems, pages 783-787, Tokyo, Japan.Google Scholar