Modeling and Simulation of Autonomous Intersection Management Protocols
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Journal Title
Journal ISSN
Volume Title
Sähkötekniikan korkeakoulu |
Master's thesis
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Author
Date
2015-06-10
Department
Major/Subject
Networking Technology
Mcode
S3029
Degree programme
TLT - Master’s Programme in Communications Engineering
Language
en
Pages
47
Series
Abstract
The advent of autonomous vehicles enables the possibility for autonomous intersection management technologies, which should provide safe, collision-free crossing, while also reducing traffic delays compared to traffic lights or stop signs. This delay reduction is the product of algorithms and communication protocols that make use of increased precision of autonomous vehicles as opposed to human drivers, allowing vehicles to make split-second decisions on their speed while crossing an intersection. Accordingly, deploying such technologies raises concerns about the safe passage of vehicles in an intersection. In this thesis, two autonomous intersection management protocols were studied and evaluated. First, a decentralized protocol called AMP-IP and developed at Carnegie Mellon University was studied. Based on a simulator developed at University of Texas at Austin, we developed a simulation environment for AMP-IP. Through simulations, we show that our model of AMP-IP satisfies the safe passage of vehicles in a four-way cross intersection and decreases the delay faced by vehicles at the intersection compared to a traffic light model. Then, a centralized intersection management protocol called AIM and developed at University of Texas at Austin was modeled in the UPPAAL model checker. Using statistical model checking we show that our model of AIM has no collisions between vehicles crossing a four-way cross intersection.Description
Supervisor
Tripakis, StavrosThesis advisor
Tripakis, StavrosKeywords
intersection management, autonomous vehicles, statistical model checking, simulation