Coordination of autonomous vehicles at intersections with decentralized V2V communication

Abstract

In order to minimize the accidents, autonomous vehicles are being designed as the future of transportation. To fulfill this goal, we should look at vehicular intersections, where unfortunately most car accidents take place. In “Automation of a T-intersection using virtual platoons of cooperative autonomous vehicles”, the algorithm called “Target Vehicle Assignment(TVA)” was proposed to resolve the problem of deciding an order in which vehicles cross in a 4-way intersection. This article reviews this algorithm and uses it as starting point to propose novel algorithms that fix issues detected in the original algorithm. The newly proposed algorithms are designed to be used with Vehicle To Vehicle (V2V) communications and are descentralized to avoid dependency of specific hardware in any intersection.