A journal of IEEE and CAA , publishes high-quality papers in English on original theoretical/experimental research and development in all areas of automation
Volume 7 Issue 4
Jun.  2020

IEEE/CAA Journal of Automatica Sinica

  • JCR Impact Factor: 6.171, Top 11% (SCI Q1)
    CiteScore: 11.2, Top 5% (Q1)
    Google Scholar h5-index: 51, TOP 8
Turn off MathJax
Article Contents
Chaoyue Zu, Chao Yang, Jian Wang, Wenbin Gao, Dongpu Cao and Fei-Yue Wang, "Simulation and Field Testing of Multiple Vehicles Collision Avoidance Algorithms," IEEE/CAA J. Autom. Sinica, vol. 7, no. 4, pp. 1045-1063, July 2020. doi: 10.1109/JAS.2020.1003246
Citation: Chaoyue Zu, Chao Yang, Jian Wang, Wenbin Gao, Dongpu Cao and Fei-Yue Wang, "Simulation and Field Testing of Multiple Vehicles Collision Avoidance Algorithms," IEEE/CAA J. Autom. Sinica, vol. 7, no. 4, pp. 1045-1063, July 2020. doi: 10.1109/JAS.2020.1003246

Simulation and Field Testing of Multiple Vehicles Collision Avoidance Algorithms

doi: 10.1109/JAS.2020.1003246
Funds:

the National Natural Science Foundation of China 61572229

the National Natural Science Foundation of China 6171101066

the Key Scientific and Technological Projects for Jilin Province Development Plan 20170204074GX

the Key Scientific and Technological Projects for Jilin Province Development Plan 20180201068GX

Jilin Provincial International Cooperation Foundation 20180414015GH

More Information
  • A global planning algorithm for intelligent vehicles is designed based on the A* algorithm, which provides intelligent vehicles with a global path towards their destinations. A distributed real-time multiple vehicle collision avoidance (MVCA) algorithm is proposed by extending the reciprocal ${ n}$-body collision avoidance method. MVCA enables the intelligent vehicles to choose their destinations and control inputs independently, without needing to negotiate with each other or with the coordinator. Compared to the centralized trajectory-planning algorithm, MVCA reduces computation costs and greatly improves the robustness of the system. Because the destination of each intelligent vehicle can be regarded as private, which can be protected by MVCA, at the same time MVCA can provide a real-time trajectory planning for intelligent vehicles. Therefore, MVCA can better improve the safety of intelligent vehicles. The simulation was conducted in MATLAB, including crossroads scene simulation and circular exchange position simulation. The results show that MVCA behaves safely and reliably. The effects of latency and packet loss on MVCA are also statistically investigated through theoretically formulating broadcasting process based on one-dimensional Markov chain. The results uncover that the tolerant delay should not exceed the half of deciding cycle of trajectory planning, and shortening the sending interval could alleviate the negative effects caused by the packet loss to an extent. The cases of short delay (${ < 100}$ ms) and low packet loss (${ < 5\%}$) can bring little influence to those trajectory planning algorithms that only depend on V2V to sense the context, but the unpredictable collision may occur if the delay and packet loss are further worsened. The MVCA was also tested by a real intelligent vehicle, the test results prove the operability of MVCA.

     

  • loading
  • Recommended by Associate Editor Xiaoou Li.
  • [1]
    D. X. Tian, J. S. Zhou, Y. P. Wang, Y. R. Lu, H. Y. Xia, and Z. G. Yi, "A dynamic and self-adaptive network selection method for multimode communications in heterogeneous vehicular telematics, " IEEE Trans. Intelligent Transportation Systems, vol. 16, no. 6, pp. 3033-3049, 2015. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=7c22a81c358ee3b89e0d0efc71f06fd5
    [2]
    W. C. Xu, H. B. Zhou, N. Cheng, F. Lyu, W. S. Shi, J. Y. Chen, and X. M. Shen, "Internet of vehicles in big data era, " IEEE/CAA J. Autom. Sinica, vol. 5, no. 1, pp. 19-35, 2018. http://d.old.wanfangdata.com.cn/Periodical/zdhxb-ywb201801003
    [3]
    European Telecommunications Standards Institute, ETSI EN 302 637-2: Intelligent Transport System (ITS); Vehicular Communications; Basic Set of Applications; Part 2: Specification of Cooperative Awareness Basic Service, v1.3.2, 2014.
    [4]
    European Telecommunications Standards Institute, ETSI EN 302 637-3: Intelligent Transport System (ITS); Vehicular Communications; Basic Set of Applications; Part 3: Specifications of Decentralized Environmental Notification Basic Service, v1.2.2, 2014.
    [5]
    D. X. Tian, J. S. Zhou, Y. P. Wang, Z. G. Sheng, H. Y. Xia, and Z. G. Yi, "Modeling chain collisions in vehicular networks with variable penetration rates, " Transportation Research Part C: Emerging Technologies, vol. 69, pp. 36-59, 2016. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=13fb21ef0d583fdd6038406afa01227c
    [6]
    T. Lozano-Pérez and M. A. Wesley, "An algorithm for planning collisionfree paths among polyhedral obstacles, " Communications of the ACM, vol. 22, no. 10, pp. 560-570, 1979.
    [7]
    K. M. Krishna and P. K. Kalra, "Perception and remembrance of the environment during real-time navigation of a mobile robot, " Robotics and Autonomous Systems, vol. 37, no. 1, pp. 25-51, 2001. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=e26c57f57c4bf353b10647b841fc6d1e
    [8]
    J. T. Schwartz and M. Sharir, "On the 'piano movers' problem. Ⅱ. General techniques for computing topological properties of real algebraic manifolds, " Advances in Applied Mathematics, vol. 4, no. 3, pp. 298-351, 1983. http://www.sciencedirect.com/science/article/pii/0196885883900143
    [9]
    R. A. Brooks, "Planning collision-free motions for pick-and-place operations, " The Int. J. Robotics Research, vol. 2, no. 4, pp. 19-44, 1983.
    [10]
    O. Khatib, "Real-time obstacle avoidance for manipulators and mobile robots, " The Int. J. Robotics Research, vol. 5, no. 1, pp. 90-98, 1986. doi: 10.1177-027836498600500106/
    [11]
    M. T. Wolf and J. W. Burdick, "Artificial potential functions for highway driving with collision avoidance, " in Proc. IEEE Int. Conf. Robotics and Autom. (ICRA). Pasadena, CA, USA: IEEE, 2008, pp. 3731-3736.
    [12]
    J. Christian Gerdes, E. J. Rossetter, and U. Saur, "Combining lanekeeping and vehicle following with hazard maps, " Vehicle System Dynamics, vol. 36, no. 4-5, pp. 391-411, 2001. doi: 10.1076/vesd.36.4.391.3548
    [13]
    E. J. Rossetter, "A potential field framework for active vehicle lanekeeping assistance, " Ph.D. dissertation, Stanford University, USA, 2003.
    [14]
    E. J. Rossetter, J. P. Switkes, and J. C. Gerdes, "Experimental validation of the potential field lanekeeping system, " Int. J. Autom. Technology, vol. 5, no. 2, pp. 95-108, 2004. http://www.researchgate.net/publication/228832423_Experimental_validation_of_the_potential_field_lanekeeping_system
    [15]
    S. S. Ge and Y. J. Cui, "Dynamic motion planning for mobile robots using potential field method, " Autonomous Robots, vol. 13, no. 3, pp. 207-222, 2002. doi: 10.1023/A%3A1020564024509
    [16]
    W. He, Z. J. Li, and C. L. P. Chen, "A survey of human-centered intelligent robots: Issues and challenges, " IEEE/CAA J. Autom. Sinica, vol. 4, no. 4, pp. 602-609, 2017.
    [17]
    P. Vadakkepat, T. H. Lee, and L. Xin, "Application of evolutionary artificial potential field in robot soccer system, " in Proc. Joint 9th IFSA World Congress and 20th NAFIPS Int. Conf., Vancouver, BC, Canada: IEEE, 2001, pp. 2781-2785.
    [18]
    S. S. Ge and Y. J. Cui, "New potential functions for mobile robot path planning, " IEEE Trans. Robotics and Autom., vol. 16, no. 5, pp. 615- 620, 2000. http://www.researchgate.net/publication/3299070_New_potential_functions_for_mobile_robot_path_planning
    [19]
    P. Y. Zhang, T. S. Lv, and L. B. Song, "Soccer robot path planning based on the artificial potential field approach with simulated annealing, " Robotica, vol. 22, no. 5, pp. 563-566, 2004. doi: 10.1017-S0263574703005666/
    [20]
    J. H. Chen and L. R. Li, "Path planning protocol for collaborative multirobot systems, " in Proc. IEEE Int. Symposium Computational Intelligence in Robotics and Autom., (CIRA). Espoo, Finland: IEEE, 2005, pp. 721-726.
    [21]
    J. Yang, Real-time Trajectory Planning for Ground and Aerial Vehicles in a Dynamic Environment. University of Central Florida, 2008.
    [22]
    R. M. Murray and S. S. Sastry, "Nonholonomic motion planning: Steering using sinusoids, " IEEE Trans. Autom. Control, vol. 38, no. 5, pp. 700-716, 1993. http://d.old.wanfangdata.com.cn/NSTLQK/NSTL_QKJJ0212760839/
    [23]
    D. Tilbury, R. M. Murray, and S. S. Sastry, "Trajectory generation for the n-trailer problem using goursat normal form, " IEEE Trans. Autom. Control, vol. 40, no. 5, pp. 802-819, 1995.
    [24]
    Z. H. Qu, J. Wang, and C. E. Plaisted, "A new analytical solution to mobile robot trajectory generation in the presence of moving obstacles, " IEEE Trans. Robotics, vol. 20, no. 6, pp. 978-993, 2004.
    [25]
    L. E. Dubins, "On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents, " American J. Mathematics, vol. 79, no. 3, pp. 497-516, 1957. doi: 10.2307-2372560/
    [26]
    J. Van Den Berg, S. J. Guy, M. Lin, and D. Manocha, "Reciprocal $n$-body collision avoidance, " Robotics research, pp. 3-19, 2011.
    [27]
    G. Bianchi, "Performance analysis of the ieee 802.11 distributed coordination function, " IEEE J. Selected Areas in Communications, vol. 18, no. 3, pp. 535-547, 2000. http://d.old.wanfangdata.com.cn/OAPaper/oai_arXiv.org_1201.0210
    [28]
    Y. X. Lin and V. W. S. Wong, "Wsn01-1: Frame aggregation and optimal frame size adaptation for IEEE 802.11n WLANs, " in Proc. IEEE Global Telecommunications Conf., San Frankcisco, CA, USA: IEEE, 2006, pp. 1-6.
    [29]
    H. Hartenstein and K. P. Laberteaux, VANET-Vehicular Applications and Inter-Networking Technologies. Chapter 7, Wiley John & Sons, 2010.

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Figures(29)  / Tables(1)

    Article Metrics

    Article views (763) PDF downloads(53) Cited by()

    Highlights

    • A distributed real-time multiple vehicles collision avoidance (MVCA) algorithm is proposed by extending the reciprocal n-body collision avoidance method and enables the intelligent vehicles to choose their destinations and control inputs independently. MVCA behaves safely and reliably by the simulation.
    • The effects of latency and packet loss on MVCA are also statistically investigated through theoretically formulating broadcasting process based on one-dimensional Markov chain and the results uncover that the tolerant delay should not exceed the half of deciding cycle of trajectory planning, and shortening the sending interval could alleviate the negative effects caused by the packet loss to an extent.
    • The MVCA was tested by a real intelligent vehicle, the information on obstacles and the latitude and longitude of the vehicle were input into the algorithm, MVCA outputted the control quantity, and finally made the vehicle arrive at the destination. The test results prove the operability of MVCA.

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return