Autonomous vehicle control systems for safe crossroads

Javier Alonso 1 Vicente Milanés 2 Joshué Pérez Rastelli 1, 3 Enrique Onieva 1 Carlos González 1 Teresa de Pedro 1
1 CAR - Centre for Automation and Robotics
2 PATH
CAR - Centre for Automation and Robotics
3 IMARA - Informatique, Mathématiques et Automatique pour la Route Automatisée
Inria Paris-Rocquencourt
Abstract : This article presents a cooperative manoeuvre among three dual mode cars - vehicles equipped with sensors and actuators, and that can be driven either manually or autonomously. One vehicle is driven autonomously and the other two are driven manually. The main objective is to test two decision algorithms for priority conflict resolution at intersections so that a vehicle autonomously driven can take their own decision about crossing an intersection mingling with manually driven cars without the need for infrastructure modifications. To do this, the system needs the position, speeds, and turning intentions of the rest of the cars involved in the manoeuvre. This information is acquired via communications, but other methods are also viable, such as artificial vision. The idea of the experiments was to adjust the speed of the manually driven vehicles to force a situation where all three vehicles arrive at an intersection at the same time.
Mots-clés : Autonomous vehicle Intelligent transport system Traffic management
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Journal articles
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https://hal.inria.fr/hal-00741379
Contributor : Joshué Pérez Rastelli <>
Submitted on : Friday, October 12, 2012 - 2:26:11 PM
Last modification on : Friday, May 25, 2018 - 12:02:03 PM

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Javier Alonso, Vicente Milanés, Joshué Pérez Rastelli, Enrique Onieva, Carlos González, et al.. Autonomous vehicle control systems for safe crossroads. Transportation research. Part C, Emerging technologies, Elsevier, 2011, 19 (6), pp.1095-1110. ⟨10.1016/j.trc.2011.06.002⟩. ⟨hal-00741379⟩

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