Affiliation:
1. Department of Computing, The Hong Kong Polytechnic University, China
2. Harbin Institute of Technology (Shenzhen), China
Abstract
To realize the grand vision of automated driving in smart vehicle
cyber-physical systems
(CPS), one important task is to support the merging of
connected automated vehicles
(CAVs) from a metered-ramp to highway. Certain safety rules must be guaranteed. However, this demand is complicated by the inherently unreliable wireless communications. In this article, we focus on the well adopted
constant-time-headway
(CTH) safety rule. We propose a highway and metered-ramp CAV collaborative merging protocol, and formally prove its guarantee of the CTH safety and liveness under
arbitrary wireless data packet losses
. These theoretical claims are further validated by our simulations. Furthermore, the simulation results also show significant improvements in the merging efficiency over other solution alternatives. Particularly, the merging success rates are more than 99% better in 11 out of 18 comparison pairs, and 0% (i.e., tied) ∼ 71% better in the remaining 7 comparison pairs.
Funder
Hong Kong RGC Theme-Based Research Scheme
RGC GRF
RGC Germany/HK
HKJCCT
Hong Kong Polytechnic University Fund
Publisher
Association for Computing Machinery (ACM)
Subject
Artificial Intelligence,Control and Optimization,Computer Networks and Communications,Hardware and Architecture,Human-Computer Interaction
Reference47 articles.
1. Federal Highway Administration. 2014. Ramp Metering: A Proven, Cost-Effective Operational Strategy - A Primer. US Department of Transportation.
2. Experience, Results and Lessons Learned from Automated Driving on Germany's Highways
3. Md Salman Ahmed Mohammad A. Hoque Jackeline Rios-Torres and Asad Khauak. 2018. A cooperative freeway merge assistance system using connected vehicles. arXiv:1805.00508. Retrieved from https://arxiv.org/abs/1805.00508
4. Hybrid automata: An algorithmic approach to the specification and verification of hybrid systems;Alur Rajeev;Hybrid Systems,1992
5. Shunsuke Aoki and Ragunathan Rajkumar. 2017. A merging protocol for self-driving vehicles. In Proceedings of the 2017 ACM/IEEE 8th International Conference on Cyber-Physical Systems (ICCPS). IEEE, 219–228.
Cited by
1 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献
1. Overall Architecture Design of Digital Smart Highway Based on DL Algorithm;2024 International Conference on Distributed Computing and Optimization Techniques (ICDCOT);2024-03-15