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arXiv · 1906.04703

Membership-based Manoeuvre Negotiation in Autonomous and Safety-critical Vehicular Systems

Antonio Casimiro·Emelie Ekenstedt·Elad Michael Schiller
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Abstract

A fault-tolerant negotiation-based intersection crossing protocol is presented. Rigorous analytic proofs are used for demonstrating the correctness and fault-tolerance properties. Experimental results validate the correctness proof via detailed computer simulations and provide a preliminary evaluation of the system performances. The results are compared to the ones that can be achieved via a risk estimator with and without combining the proposed protocol. Our fault model considers packet-loss, noisy sensory information and malicious driving. Our preliminary results show a reduction in the number of dangerous situations and vehicle collisions.

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Antonio Casimiro, Emelie Ekenstedt, Elad Michael Schiller. 2019-06-11. Membership-based Manoeuvre Negotiation in Autonomous and Safety-critical Vehicular Systems. https://arxiv.org/abs/1906.04703

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