Reliable Virtual Blinker: Risk Analysis of Dynamic Traffic Priorities

Abstract

This report presents an implementation of the vehicular manoeuvre negotiation protocol by Casimiro and Schiller, which allows vehicles to cross an intersection. The focus of this report is on the integration of key components that this protocol must have, such as the one for risk estimation that each vehicle must run before granting a permission to another vehicle. We discuss how such components can be constructed and study the system performance in a ROS-based simulator. Our study considers the left turn across path scenario. The results of our experiments show encouraging improvements with respect to an earlier study in the area by Lefèvre et al. During our experiments, we have not observed collision nor a priority violation when following speed profile. We are aware that this study considers just the first steps that are needed to take in order to evaluate the protocol proposed by Casimiro and Schiller. However, we see these first steps as a basis for future work in the area.