Graph-Based Modeling, Scheduling, and Verification for Intersection Management of Intelligent Vehicles
Graph-Based Modeling, Scheduling, and Verification for Intersection Management of Intelligent Vehicles
复制标题
基于图的智能车辆交叉口管理建模、调度和验证
DOI：
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发表时间：
2019
影响因子：
2
通讯作者：
Changliu Liu
中科院分区：
文献类型：
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作者：
Yi;Hsiang;Shang;Chung;I. Jiang;Changliu Liu
路口管理是具有网联和自动驾驶功能的智能车辆最具代表性的应用之一。网联提供了单一车辆无法感知的环境信息，自动驾驶支持人类驾驶员无法实现的精确车辆控制。路口管理解决了车辆的基本冲突解决问题——两辆车不应在同一时间出现在同一位置，如果它们打算这样做，就应该确定一个顺序以优化某些目标，如交通流量或顺畅性。在本文中，我们首先提出了一种基于图的路口管理模型。该模型具有通用性，适用于不同粒度的路口和其他冲突场景。然后我们推导出能够保证无死锁的形式化验证方法。基于基于图的模型和验证方法，我们为基于图的模型开发了一种集中式循环消除算法，以便安全（无碰撞）且高效地调度车辆通过路口且无死锁。实验结果证明了所提模型的表达能力以及所提算法的有效性和高效性。
Intersection management is one of the most representative applications of intelligent vehicles with connected and autonomous functions. The connectivity provides environmental information that a single vehicle cannot sense, and the autonomy supports precise vehicular control that a human driver cannot achieve. Intersection management solves the fundamental conflict resolution problem for vehicles—two vehicles should not appear at the same location at the same time, and, if they intend to do that, an order should be decided to optimize certain objectives such as the traffic throughput or smoothness. In this paper, we first propose a graph-based model for intersection management. The model is general and applicable to different granularities of intersections and other conflicting scenarios. We then derive formal verification approaches which can guarantee deadlock-freeness. Based on the graph-based model and the verification approaches, we develop a centralized cycle removal algorithm for the graph-based model to schedule vehicles to go through the intersection safely (without collisions) and efficiently without deadlocks. Experimental results demonstrate the expressiveness of the proposed model and the effectiveness and efficiency of the proposed algorithm.
DOI：
10.1109/smartcomp.2017.7946999
发表时间：
2017-05
期刊：
2017 IEEE International Conference on Smart Computing (SMARTCOMP)
影响因子：
--
作者：
Bowen Zheng;Chung-Wei Lin;Hengyi Liang;Shin'ichi Shiraishi;Wenchao Li;Qi Zhu
通讯作者：
Bowen Zheng;Chung-Wei Lin;Hengyi Liang;Shin'ichi Shiraishi;Wenchao Li;Qi Zhu