Collaborative Fault Tolerant Control of Non-Signalized Intersections for Connected and Autonomous Vehicles

Hong Wang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

With the potential of increased penetration of connected and autonomous vehicles (CAVs), intersectional signal control faces new challenges in terms of its operation and implementation. One possibility is to fully make use of the communication capabilities of CAVs so that intersectional signal control can be realized by CAVs alone - this leads to non-signalized intersectional operation for traffic networks in urban areas. In this paper, the state-of-the-art on collaborative fault tolerant control schemes for complex systems will be briefly described. This is then followed by the formulation of operational fault tolerant control that realizes the collaborative fault tolerance functionality at CAVs operational level in response to possible individual vehicle faults, where detailed modelling using vehicle movement dynamics will be described together with the construction of fast fault diagnosis and a collaborative fault tolerant control algorithm. A simple example will be given as well to demonstrate the proposed algorithm together with the discussions on other issues such as randomness of the system, communication errors and full energy consideration. These leads to several future directions of the research for the traffic flow control of non-signalized intersections with 100% penetration of CAVs.

Original languageEnglish
Title of host publication2020 International Conference on Advanced Mechatronic Systems, ICAMechS 2020
PublisherIEEE Computer Society
Pages129-136
Number of pages8
ISBN (Electronic)9781728165301
DOIs
StatePublished - Dec 10 2020
Event2020 International Conference on Advanced Mechatronic Systems, ICAMechS 2020 - Hanoi, Viet Nam
Duration: Dec 10 2020Dec 13 2020

Publication series

NameInternational Conference on Advanced Mechatronic Systems, ICAMechS
Volume2020-December
ISSN (Print)2325-0682
ISSN (Electronic)2325-0690

Conference

Conference2020 International Conference on Advanced Mechatronic Systems, ICAMechS 2020
Country/TerritoryViet Nam
CityHanoi
Period12/10/2012/13/20

Funding

This work is funded by the Vehicle Technology Office (VTO) of the Department of Energy (DOE) under the Energy Efficient Mobility Systems (EEMS) program. The report was highly benefitted from the suggestions of the DOE program managers. This manuscript has been o-authored by UT-Battelle, LLC under Contract No. DE-AC05-00OR22725 with the U.S. Department of Energy. The United States Government retains and the publisher, by accepting the article for publication, acknowledges that the United States Government retains a nonexclusive, paid-up, irrevocable, world-wide license to publish or reproduce the published form of this manuscript, or allow others to do so, for United States Government purposes. The Department of Energy will provide public access to these results of federally sponsored research in accordance with the DOE Public Access Plan ( http://energy.gov/downloads/doe-publicaccess-plan ).

Keywords

  • Connected and Autonomous Vehicles (CAVs)
  • Fault diagnosis
  • Fault tolerant control
  • Intersectional signal control
  • Simulation

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