| Author: | Fan, Xueli |
| Title: | Cooperative driving for connected and automated vehicles on dedicated lanes |
| Advisors: | Wang, Qixin (COMP) |
| Degree: | Ph.D. |
| Year: | 2022 |
| Subject: | Automobile driving Automobiles -- Automatic control Intelligent agents (Computer software) Wireless communication systems Hong Kong Polytechnic University -- Dissertations |
| Department: | Department of Computing |
| Pages: | xiii, 135 pages : color illustrations |
| Language: | English |
| Abstract: | Autopiloting of smart vehicles is a hot topic in both industry and academia. Market for autopiloting smart vehicles is expected to reach over 500 billion US dollars by 2026. In academia, the Society of Automotive Engineers (SAE) defines five levels of automated drivig, with the ultimate goal of full scale (i.e. level 5) autopiloting. Expectedly autopiloting can eliminate human errors, hence greatly improve driving safety and reduce property and medical costs caused by transportation accidents. One promising context to first realize autopiloting is in dedicated lanes, where human driven vehicles are forbidden, just like modern highways forbid horse carriages. In fact, the SAE level 4 automated driving is explicitly defined to be realized in limited spatial areas (in other words, dedicated lanes); and this level 4 is considered as an inevitable stepping stone toward level 5 (full scale) autopiloting. By forbidding human driven vehicles (hence eliminating the unpredictability caused), the dedicated lanes make cooperative driving of Connected Automated Vehicles (CAVs) meaningful. Intuitively, cooperative driving of CAVs can make autopiloting easier, safer, and more efficient. However, this vision is challenged by the inborn unreliability of wireless communications. Wireless communication failures, both transient and persistent, can happen randomly, due to various reasons, such as handover failures, jamming, large-scale path losses, multipath. Such failures can cause arbitrary wireless packet losses, leaving the CAV driving cooperation in inconsistent states, hence cause further failures, even accidents. As part of the endeavor to address this challenge, in this dissertation, we try to tackle the problem from protocol design and formal analyses perspective. By exploiting the design philosophy of time out (aka leasing), and the formal tool of hybrid automata, we propose two protocols, respectively for V2X (i.e. vehicle to everything wireless communications) highway and metered-ramp merging, and V2V (i.e. vehicle to vehicle wireless communications) highway lane change. We formally prove the two protocols can guarantee the widely adopted Constant Time Headway (CTH) safety, as well as liveness (i.e. no deadlock), under arbitrary wireless packet losses. These theoretical conclusions on safety and liveness are validated by our simulations. Furthermore, our simulations also show great performance improvements. For the highway metered-ramp merging protocol, our simulations show more than 99% merging success rate improvements in 11 out of 18 comparison pairs, and 0% (i.e. tied) to 71% merging success rate improvements in the remaining 7 comparison pairs. For the highway lane change protocol, our simulations show 8.5% to 81.8% (median: 36.9%, mean: 39.7%) lane change success rate improvements in 18 comparison pairs. |
| Rights: | All rights reserved |
| Access: | open access |
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