1,512 research outputs found
Semi-autonomous Intersection Collision Avoidance through Job-shop Scheduling
In this paper, we design a supervisor to prevent vehicle collisions at
intersections. An intersection is modeled as an area containing multiple
conflict points where vehicle paths cross in the future. At every time step,
the supervisor determines whether there will be more than one vehicle in the
vicinity of a conflict point at the same time. If there is, then an impending
collision is detected, and the supervisor overrides the drivers to avoid
collision. A major challenge in the design of a supervisor as opposed to an
autonomous vehicle controller is to verify whether future collisions will occur
based on the current drivers choices. This verification problem is particularly
hard due to the large number of vehicles often involved in intersection
collision, to the multitude of conflict points, and to the vehicles dynamics.
In order to solve the verification problem, we translate the problem to a
job-shop scheduling problem that yields equivalent answers. The job-shop
scheduling problem can, in turn, be transformed into a mixed-integer linear
program when the vehicle dynamics are first-order dynamics, and can thus be
solved by using a commercial solver.Comment: Submitted to Hybrid Systems: Computation and Control (HSCC) 201
- …