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CSIP: A Synchronous Protocol for Automated Vehicles at Road Intersections

Published: 20 August 2019 Publication History

Abstract

Intersection management is one of the main challenging issues in road safety because intersections are a leading cause of traffic congestion and accidents. In fact, more than 44% of all reported crashes in the U.S. occur around intersection areas, which, in turn, has led to 8,500 fatalities and approximately 1 million injuries every year. With vehicles expected to become self-driving, the question is whether high throughput can be obtained through intersections while keeping them safe. A spatio-temporal intersection protocol named the Ballroom Intersection Protocol (BRIP) [8] was recently proposed in the literature to address this situation. Under this protocol, automated and connected vehicles arrive at and go through an intersection in a cooperative fashion with no vehicle needing to stop, while maximizing the intersection throughput. Though no vehicles run into one another under ideal environments with BRIP, vehicle accidents can occur when the self-driving vehicles have location errors and/or control system failure. In this article, we present a safe and practical intersection protocol named the Configurable Synchronous Intersection Protocol (CSIP). CSIP is a more general and resilient version of BRIP. CSIP utilizes a certain inter-vehicular distance to meet safety requirements in the presence of GPS inaccuracies and control failure. The inter-vehicular distances under CSIP are much more acceptable and comfortable to human passengers due to longer inter-vehicular distances that do not cause fear. With CSIP, the inter-vehicular distances can also be changed at each intersection to account for different traffic volumes, GPS accuracy levels, and geographical layout of intersections. Our simulation results show that CSIP never leads to traffic accidents even when the system has typical location errors, and that CSIP increases the traffic throughput of the intersections compared to common signalized intersections.

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Published In

cover image ACM Transactions on Cyber-Physical Systems
ACM Transactions on Cyber-Physical Systems  Volume 3, Issue 3
Special Issue on Real Time Aspects in CPS and Regular Papers (Diamonds)
July 2019
269 pages
ISSN:2378-962X
EISSN:2378-9638
DOI:10.1145/3356396
  • Editor:
  • Tei-Wei Kuo
Issue’s Table of Contents
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

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Publication History

Published: 20 August 2019
Accepted: 01 April 2018
Revised: 01 February 2018
Received: 01 October 2017
Published in TCPS Volume 3, Issue 3

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Author Tags

  1. Autonomous vehicles
  2. intelligent transportation systems
  3. intersection management
  4. mobile robots
  5. synchronization
  6. vehicular networks

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  • (2023)A Two-Speed Synchronous Traffic Protocol for Intelligent Intersections: From Single-Vehicle to Platoon CrossingACM Transactions on Cyber-Physical Systems10.1145/35712897:2(1-21)Online publication date: 19-Apr-2023
  • (2022)Cyber Traffic Light: Safe Cooperation for Autonomous Vehicles at Dynamic IntersectionsIEEE Transactions on Intelligent Transportation Systems10.1109/TITS.2022.314645723:11(22519-22534)Online publication date: Nov-2022
  • (2022)A Method of Deadlock and Girdlock Avoidance at Signal-free Intersections2022 IEEE 11th Global Conference on Consumer Electronics (GCCE)10.1109/GCCE56475.2022.10014324(659-660)Online publication date: 18-Oct-2022
  • (2022)A Comprehensive Survey on Cooperative Intersection Management for Heterogeneous Connected VehiclesIEEE Access10.1109/ACCESS.2022.314245010(7937-7972)Online publication date: 2022
  • (2021)CISCAV: Consensus-based Intersection Scheduling for Connected Autonomous Vehicles2021 IEEE International Conference on Omni-Layer Intelligent Systems (COINS)10.1109/COINS51742.2021.9524266(1-7)Online publication date: 23-Aug-2021
  • (2019)V2V-based Synchronous Intersection Protocols for Mixed Traffic of Human-Driven and Self-Driving Vehicles2019 IEEE 25th International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA)10.1109/RTCSA.2019.8864572(1-11)Online publication date: Aug-2019
  • (undefined)Key Problems Related to Vehicular Following Control and ManagementSSRN Electronic Journal10.2139/ssrn.4193425

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