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Priority-based coordination of autonomous and legacy vehicles at intersection

Abstract : Recently, researchers have proposed various intersection management techniques that enable autonomous vehicles to cross the intersection without traffic lights or stop signs. In particular, a priority-based coordination system with provable collision-free and deadlock-free features has been presented. In this paper, we extend the priority-based approach to support legacy vehicles without compromising above-mentioned features. We make the hypothesis that legacy vehicles are able to keep a safe distance from their leading vehicles. Then we explore some special configurations of system that ensures the safe crossing of legacy vehicles. We implement the extended system in a realistic traffic simulator SUMO. Simulations are performed to demonstrate the safety of the system.
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Submitted on : Friday, August 29, 2014 - 12:14:00 PM
Last modification on : Friday, January 21, 2022 - 3:16:06 AM
Long-term archiving on: : Sunday, November 30, 2014 - 10:37:38 AM


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  • HAL Id : hal-01059090, version 1


Xiangjun Qian, Jean Gregoire, Fabien Moutarde, Arnaud de La Fortelle. Priority-based coordination of autonomous and legacy vehicles at intersection. 17th International IEEE Conference on Intelligent Transportation Systems, Oct 2014, Qingdao, China. ⟨hal-01059090⟩



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