Title :
State-Driven Priority Scheduling Mechanisms for Driverless Vehicles Approaching Intersections
Author :
Kailong Zhang ; Dafang Zhang ; de La Fortelle, Arnaud ; Xiao Wu ; Gregoire, Jean
Author_Institution :
Sch. of Comput., Northwestern Polytech. Univ., Xi´an, China
Abstract :
Scheduling driverless vehicles with different priorities to pass through intersections efficiently and safely has been becoming an important passing-through intersection (PTI) problem in the field of novel intelligent traffic systems (ITS), which is increasingly becoming cyber-physical-fused and social-service-oriented. Considering new emerging features with possible priorities, a novel centralized priority scheduling mechanism is mainly explored in this paper. First, related pivotal aspects of environment and driverless vehicles are modeled by fusing their physical and kinematic characters. Based on these models, PTI-related motions are further abstracted as several reservation-oriented standard states and actions. Then, an event-triggered and state-driven autonomous control procedure is designed. By mapping vehicular relations in spatiotemporal domain into time-distance windows, a universal passing-through principle, rules, and priority-based scheduling mechanisms are proposed and described in detail. Finally, a priority scheduling algorithm sPriorFIFO is proposed and designed. These models and mechanisms are then implemented within an algorithm simulator, through which scheduling performances are verified and evaluated.
Keywords :
intelligent transportation systems; road traffic; scheduling; PTI problem; centralized priority scheduling mechanism; cyber-physical-fused ITS; driverless vehicle scheduling; event-triggered state-driven autonomous control procedure; intelligent traffic systems; passing-through intersection problem; reservation-oriented standard states; sPriorFIFO algorithm; social-service-oriented ITS; spatiotemporal domain; state-driven priority scheduling mechanism; time-distance windows; universal passing-through principle; vehicular relations mapping; Artificial intelligence; Cascading style sheets; Decision making; Kinematics; Scheduling; Trajectory; Vehicles; Cyber-physical-social fusion; driverless vehicle; intelligent traffic system (ITS); intersection; priority scheduling; service; state driven;
Journal_Title :
Intelligent Transportation Systems, IEEE Transactions on
DOI :
10.1109/TITS.2015.2411619