Scipediacontent: Scipediacontent moved page Draft Content 220395867 to Qian et al 2016b

2021-01-28T20:34:34Z

Scipediacontent moved page Draft Content 220395867 to Qian et al 2016b

Scipediacontent: Created page with " == Abstract == International audience; Although significant progress has been made in the last few years towards cooperative and autonomous driving, the transition from huma..."

2021-01-28T20:34:29Z

Created page with " == Abstract == International audience; Although significant progress has been made in the last few years towards cooperative and autonomous driving, the transition from huma..."

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== Abstract ==

International audience; Although significant progress has been made in the last few years towards cooperative and autonomous driving, the transition from human-driven to fully automated vehicles is expected to happen slowly. The question of semi-autonomous driving, where Advanced Driver Assistance Systems assist human drivers in their decisions, will therefore become increasingly important. In this paper, we consider the problem of safe intersection crossing for semi-autonomous vehicles with communication capacities. We design an intersection supervisor based on a mixed-integer quadratic programming approach which monitors the control inputs of each vehicle, and overrides those controls when necessary to ensure that all vehicles can navigate safely. Moreover, the solution control deviates minimally from the vehicles target inputs: overriding only occurs when it is strictly necessary, in which case the control is chosen as close as possible to the driver's intent. We theoretically prove that the supervisor needs only consider a finite future time horizon to ensure safety and deadlock avoidance over an infinite time horizon, and we demonstrate through simulation that this algorithm can work in real time. Additionally, unlike previous work, our formulation is suitable for complex intersection geometries with a high number of vehicles.

== Original document ==

The different versions of the original document can be found in:

* [https://hal-mines-paristech.archives-ouvertes.fr/hal-01360137/file/Supervisor.pdf https://hal-mines-paristech.archives-ouvertes.fr/hal-01360137/file/Supervisor.pdf]

* [http://xplorestaging.ieee.org/ielx7/7784515/7795515/07795961.pdf?arnumber=7795961 http://xplorestaging.ieee.org/ielx7/7784515/7795515/07795961.pdf?arnumber=7795961],
: [http://dx.doi.org/10.1109/itsc.2016.7795961 http://dx.doi.org/10.1109/itsc.2016.7795961]

* [https://dblp.uni-trier.de/db/conf/itsc/itsc2016.html#AltcheQF16 https://dblp.uni-trier.de/db/conf/itsc/itsc2016.html#AltcheQF16],
: [https://hal-mines-paristech.archives-ouvertes.fr/hal-01360137 https://hal-mines-paristech.archives-ouvertes.fr/hal-01360137],
: [https://hal-mines-paristech.archives-ouvertes.fr/hal-01360137/document https://hal-mines-paristech.archives-ouvertes.fr/hal-01360137/document],
: [https://dumas.ccsd.cnrs.fr/ENSMP_CAOR/hal-01360137v1 https://dumas.ccsd.cnrs.fr/ENSMP_CAOR/hal-01360137v1],
: [https://academic.microsoft.com/#/detail/2547229081 https://academic.microsoft.com/#/detail/2547229081]

* [https://hal-mines-paristech.archives-ouvertes.fr/hal-01360137 https://hal-mines-paristech.archives-ouvertes.fr/hal-01360137],
: [https://hal-mines-paristech.archives-ouvertes.fr/hal-01360137/document https://hal-mines-paristech.archives-ouvertes.fr/hal-01360137/document],
: [https://hal-mines-paristech.archives-ouvertes.fr/hal-01360137/file/Supervisor.pdf https://hal-mines-paristech.archives-ouvertes.fr/hal-01360137/file/Supervisor.pdf]

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Qian et al 2016b - Revision history

Scipediacontent: Scipediacontent moved page Draft Content 220395867 to Qian et al 2016b

Scipediacontent: Created page with " == Abstract == International audience; Although significant progress has been made in the last few years towards cooperative and autonomous driving, the transition from huma..."