Description
In the recent times, traffic congestion and motor accidents have been a major problem for transportation in major cities. Intelligent Transportation Systems has the potential to be an effective solution in order to tackle this issue. Connected Autonomous Vehicles can cooperate at intersections, ramp merging, lane change and other conflicting scenarios in order to resolve the conflicts and avoid collisions with other vehicles. A lot of works has been proposed for specific scenarios such as intersections, ramp merging or lane change which partially solve the conflict resolution problem. Also, one of the major issues in autonomous decision making - deadlocks have not been considered in some of the works. The existing works either do not consider deadlocks or lack a safety proof. This thesis proposes a cooperative driving solution that provides a complete navigation, conflict resolution and deadlock resolution for connected autonomous vehicles. A graph-based model is used to resolve the deadlocks between vehicles and the responsibility sensitive safety (RSS) rules have been used in order to ensure safety of the autonomous vehicles during conflict detection and resolution. This algorithm provides a complete navigation solution for an autonomous vehicle from its source to destination. The algorithm ensures that accidents do not occur even in the worst-case scenario and the decision making is deadlock free.
Details
Title
- Cooperative Driving of Connected Autonomous Vehicles Using Responsibility Sensitive Safety Rules
Contributors
- Allamsetti, Harshith (Author)
- Shrivastava, Aviral (Thesis advisor)
- Sen, Arunabha (Committee member)
- Ren, Fengbo (Committee member)
- Arizona State University (Publisher)
Date Created
The date the item was original created (prior to any relationship with the ASU Digital Repositories.)
2020
Subjects
Resource Type
Collections this item is in
Note
- Masters Thesis Computer Engineering 2020