Autonomous Intersection Control With Synchronized TOA and Velocity Tracking
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Solution Overview
Problem
Existing intersection management technologies for connected autonomous vehicles face issues with network traffic, model mismatches, and external disturbances, leading to inaccurate velocity assignments and actuation timestamps, which can cause delays and accidents, and often result in inefficient safety buffers that reduce throughput.
Innovation Solution
A distributed real-time intersection management system that synchronizes vehicle controllers with an intersection controller, allowing vehicles to calculate and track individual trajectory paths based on assigned Time of Arrival (TOA) and Velocity of Arrival (VOA), compensating for model mismatches and external disturbances, and enabling vehicles to maintain higher velocities when turning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If existing intersection management models assign velocities to CAVs approaching the intersection, then velocity control is achieved, but model mismatches and external disturbances lead to inaccurate velocity assignments which reduce throughput and cause accidents
Solution Approach 1:
The system implements continuous feedback by monitoring actual vehicle states (position, velocity, acceleration) and comparing them against predicted trajectories. When deviations are detected due to model mismatches or disturbances, the intersection controller adjusts velocity assignments in real-time to maintain safety and optimize throughput.
Solution Approach 2:
The system dynamically changes velocity assignment parameters based on real-time conditions. Instead of using fixed velocity profiles, the intersection controller adjusts velocity parameters adaptively according to actual vehicle responses, environmental conditions, and intersection traffic state, thereby maintaining accuracy despite model uncertainties.
2Measurement precision
If existing technologies assign actuation timestamps to CAVs, then timing control is achieved, but inaccurate timestamps cause vehicles to meet velocities at wrong times, causing delays or accidents
Solution Approach 1:
The system performs preliminary synchronization by having vehicles synchronize their clocks with the intersection controller before entering the intersection. This preliminary timing alignment ensures that subsequent actuation timestamps are accurate and that vehicles arrive at the intersection at the correct times without unnecessary delays.
Solution Approach 2:
The system uses feedback mechanisms to continuously monitor and adjust timing. The intersection controller receives real-time position and timestamp data from vehicles, compares actual arrival times against predicted times, and adjusts future timestamp assignments to compensate for accumulated timing errors or synchronization drift.
3Reliability
If IM models include large safety buffers to compensate for limitations, then safety is improved, but throughput is reduced due to unnecessary delays and slow approach speeds
Solution Approach 1:
Instead of applying uniform large safety buffers to all vehicles, the system applies safety measures selectively and proportionally. The intersection controller calculates minimal necessary safety margins based on individual vehicle characteristics, environmental conditions, and real-time risk assessment, thereby maintaining safety while minimizing unnecessary delays.
Solution Approach 2:
The system implements dynamic safety buffer adjustment rather than static buffers. Safety margins are continuously adapted based on real-time conditions such as vehicle speed, acceleration capabilities, environmental factors, and intersection traffic state, allowing the system to maintain safety while optimizing throughput by reducing buffers when conditions permit.
Data Source
AI summary
Various embodiments of an intersection management system for managing autonomous vehicles approaching an intersection in which a Time of Arrival, Velocity of Arrival, and path trajectory are calculated for each approaching vehicle are disclosed.