Vehicle-to-vehicle (V2V) communication is a key component of the future autonomous driving systems. V2V can provide an improved awareness of the surrounding environment, and the knowledge about the future actions of nearby vehicles. However, V2V communication is subject to different kind of failures and delays, so a distributed fault-tolerant approach is required for safe and efficient transportation. This work considers fully autonomous vehicles that operates using local sensory information, and aided with fault-tolerant V2V communication. The sensors provide all basic functionality, but are overridden by V2V whenever is possible to increase the efficiency. As an example scenario, we consider intersection crossing (IC) with autonomous vehicles that cooperate via V2V communication, and propose a fully distributed and a fault-tolerant algorithm for this problem. According to our numerical results, based on a real data set, we show the crossing delay is only slightly increased in the presence of a burst of V2V failures, and that V2V can be successfully used in most scenarios.
@cite_13: In this paper we introduce a new decentralized navigation function for coordination of autonomous vehicles at intersections. The main contribution is a navigation function designed for vehicles with predefined paths that uses expected time to intersection for collision avoidance. In such way, deadlock situations are avoided. Different inertias of the vehicles are taken into account to enable on-board energy optimization for crossing. Heavier vehicles that need more energy and time for acceleration or braking are given an indirect priority at intersections. The proposed decentralized coordination scheme shows a significant improvement in energy consumption and in motion smoothness compared to traditional crossing with human drivers.
Finally, in @cite_13 , the main contribution is a novel decentralized navigation function for autonomous vehicles with a predefined path. It takes into account the expected arrival time to the intersection, which results in a fluent traffic without unnecessary stops. The weighting factors are introduced to give a higher priority to heavier vehicles. The proposed decentralized solution is compared with a centralized one and traffic lights, in terms of energy consumption and the maximum throughput. The key result is a higher throughput, but the price is higher energy consumption than a centralized solution.