Lorenzo Caminiti

Cooperative Collision Avoidance at Intersections: Algorithms and Experiments

In this paper, we leverage vehicle-to-vehicle (V2V) communication technology to implement computationally efficient decentralized algorithms for two-vehicle cooperative collision avoidance at intersections. Our algorithms employ formal control theoretic methods to guarantee a collision-free (safe) system, whereas overrides are only applied when necessary to prevent a crash. Model uncertainty and communication delays are explicitly accounted for by the model and by the state estimation algorithm. The main contribution of this work is to provide an experimental validation of our method on two instrumented vehicles engaged in an intersection collision avoidance scenario in a test track.

Efficient coordination and transmission of data for cooperative vehicular safety applications

This paper presents a method for efficient exchanges of Data Elements between vehicles running multiple safety applications. To date, significant efforts have been made in designing lower-layer communication protocols for VANET. Also, industry and government agencies have made progress in identifying and implementing certain vehicular safety applications. However, the specific environment of VANET-enabled safety applications lends itself to significant efficiencies in how information is coordinated within a vehicle and transmitted to neighboring vehicles. These efficiencies are instantiated in what we call the Message Dispatcher. The Message Dispatcher is an interface between multiple safety applications and the lower-layer communication stack. This Message Dispatcher concept was recently contributed to the Society of Automotive Engineers (SAE) and has become an underlying principle in their safety message standardization process. It has also been implemented in vehicle demonstrations at the Toyota Technical Center (TTC) in Ann Arbor, MI.