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An Experimental Perspective on Virtual Supportive Traffic Intersections
KTH, School of Electrical Engineering and Computer Science (EECS).
KTH, School of Electrical Engineering and Computer Science (EECS).
2019 (English)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
Abstract [en]

Supportive traffic intersections are intersections that in a smart way can communicate with approaching vehicles to assist their driving. Such an intersection can be a great help for both autonomous vehicles and non-autonomous vehicles. The aim of this project is to propose a zone based algorithm to create such an intersection. The zone based algorithm is implemented using a hybrid control approach. An imaginary zone at the intersection is created and the algorithm changes the speed of one of the incoming vehicles so that no more than one vehicle is in the zone at a time. The algorithm is then implemented and tested on small ground vehicles in two different scenarios. To accomplish these scenarios, algorithms for steering and path following were also derived and implemented. The safety of the algorithm is evaluated and is shown to work for vehicles in implementation. Finally, extensions to improve the algorithm and safety concerning both data security and connectivity dropouts with the positioning system are discussed. The existing limitations of the algorithm are described and future developments are proposed.

Place, publisher, year, edition, pages
2019. , p. 9
Series
TRITA-EECS-EX ; 2019:121
Keywords [en]
Autonomous vehicles, Supportive traffic intersections, Hybrid control
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-254222OAI: oai:DiVA.org:kth-254222DiVA, id: diva2:1329190
Subject / course
Electrical Engineering
Educational program
Master of Science in Engineering - Electrical Engineering
Supervisors
Examiners
Available from: 2019-06-24 Created: 2019-06-24 Last updated: 2019-06-24Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
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Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
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Output format
  • html
  • text
  • asciidoc
  • rtf