Cooperative Autonomous Driving for Vehicular Networks

Lamia Iftekhar, Reza Olfati-Saber


In this paper, we introduce cooperative autonomous driving algorithms for vehicular networks in urban environments that take human safety into account and are capable of performing vehicle-to-vehicle (V2V) and vehicle-to-pedestrian (V2P) collision avoidance. We argue that “flocks” are multi-agent models of vehicular traffic on roads and propose novel autonomous driving architectures for cyber-physical vehicles capable of performing autonomous driving tasks such as lane-driving, lane-changing, braking, passing, and making turns. These autonomous driving algorithms are inspired by the flocking theory of Olfati-Saber (Olfati-Saber, 2006), though, there are notable differences between autonomous driving on urban roads and flocking behavior— flocks have a single desired destination whereas most drivers on road do not share the same destination. We demonstrate that lane-driving for a vehicular network with n > 3 vehicles cannot necessarily be performed using pairwise vehicular interactions and might require triangular interactions among triplets of vehicles. The self-driving vehicles in our framework turn out to be nonlinear switching systems with discrete states that are related to the driving modes of the vehicles. Complex driving maneuvers can be performed using a sequence of mode switchings. We present several examples of driving tasks that can be effectively performed using our proposed driving algorithms.


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Paper Citation

in Harvard Style

Iftekhar L. and Olfati-Saber R. (2012). Cooperative Autonomous Driving for Vehicular Networks . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-22-8, pages 345-352. DOI: 10.5220/0004048003450352

in Bibtex Style

author={Lamia Iftekhar and Reza Olfati-Saber},
title={Cooperative Autonomous Driving for Vehicular Networks},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},

in EndNote Style

JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Cooperative Autonomous Driving for Vehicular Networks
SN - 978-989-8565-22-8
AU - Iftekhar L.
AU - Olfati-Saber R.
PY - 2012
SP - 345
EP - 352
DO - 10.5220/0004048003450352