Intersection Navigation for Automated Vehicles
Ladda ner
Typ
Examensarbete för masterexamen
Program
Publicerad
2020
Författare
NIklasson, Lars
Modellbyggare
Tidskriftstitel
ISSN
Volymtitel
Utgivare
Sammanfattning
This work provides a simulation environment for automated vehicles that drive through
an intersection while using vehicle-to-vehicle (V2V) communications. To the end of
demonstrating the proposed simulation environment, we provide software for risk assessment,
which identifies dangerous situations by comparing what drivers intend to do
with what they are expected to do in order to avoid collision. Our software takes into
account uncertainties caused by vehicle state noise. Another way in which we demonstrate
the proposed simulation environment is via software for coordinating intersection
crossing in which vehicles request permissions from each other before deciding to cross,
similar to the work of Casimiro and Schiller. The software is designed such that no
two vehicles with conflicting maneuvers can be inside the intersection at the same time.
Furthermore, we combined these two methods to create a system with multiple safety
layers. The idea is that the risk assessment software works as a backup if some deviant
driver does not adhere to the software for coordinating intersection crossing. The two
methods are connected, such that whenever a vehicle is granted, the priority rules of
the risk assessment software are temporarily changed in favor of the granted vehicle.
Finally, we use the proposed evaluation environment for conducting experiments in a
four-way give-way intersection. During these experiments, we observed that we can
combine the risk assessment software with the coordination software. As we explain,
the proposed simulation environment can help to measure to what degree collisions are
avoided or mitigated, even while taking into account deviant vehicle behaviors, such as
unpredictable traveling speeds, significant noise in state measurements, to name a few.
We hope that the system can serve as a basis for future research projects.
Beskrivning
Ämne/nyckelord
ADAS , automated vehicles , risk assessment , intersection navigation , maneuver coordination , cooperative intersection management , traffic simulation