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_20: Intersections remain among the most accident-prone subsystems in modern traffic. With the introduction of vehicle-to-infrastructure communication, it is possible for the intersection to become aware of the incoming stream of vehicles and issue warnings when needed. We consider an approach where vehicles can act automatically on those warnings, leaving drivers maximal freedom of manoeuvre while guaranteeing safety with minimal intervention. We also quantify the impact of imperfect communication in the uplink (from vehicle to infrastructure) and the downlink (from infrastructure to vehicle).
Cooperative collision avoidance with imperfect vehicle-to-infrastructure (and vice-versa) communication is analyzed in @cite_20 . The centralized supervisor, located at the intersection, acquires the positions, velocities, and accelerations of the incoming stream of vehicles, and then decides either to allow vehicles' desired inputs, or to override them with a safe set of inputs. The communication is subject to failures, with the success reception probability based on the Rayleigh fading channel model. According to simulation results, the mean time between the accidents is significantly increased, but a collision may still happen if the override message has been lost.