Autonomous vehicle control systems for safe crossroads - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Journal Articles Transportation research. Part C, Emerging technologies Year : 2011

Autonomous vehicle control systems for safe crossroads


This article presents a cooperative manoeuvre among three dual mode cars - vehicles equipped with sensors and actuators, and that can be driven either manually or autonomously. One vehicle is driven autonomously and the other two are driven manually. The main objective is to test two decision algorithms for priority conflict resolution at intersections so that a vehicle autonomously driven can take their own decision about crossing an intersection mingling with manually driven cars without the need for infrastructure modifications. To do this, the system needs the position, speeds, and turning intentions of the rest of the cars involved in the manoeuvre. This information is acquired via communications, but other methods are also viable, such as artificial vision. The idea of the experiments was to adjust the speed of the manually driven vehicles to force a situation where all three vehicles arrive at an intersection at the same time.

Dates and versions

hal-00741379 , version 1 (12-10-2012)



Javier Alonso, Vicente Milanés, Joshué Pérez Rastelli, Enrique Onieva, Carlos González, et al.. Autonomous vehicle control systems for safe crossroads. Transportation research. Part C, Emerging technologies, 2011, 19 (6), pp.1095-1110. ⟨10.1016/j.trc.2011.06.002⟩. ⟨hal-00741379⟩


135 View
0 Download



Gmail Facebook X LinkedIn More