Transcript Posterlille
INTRADE
(I
NTELLIGENT TRANSPORTATION FOR DYNAMIC ENVIRONMENT
) PROJECT. FINAL WORKSHOP 4 & 5 DECEMBER 2014
Avoidance collision using V2V Communication in container terminal area
Nacera Bahnes, Bouabdellah Kechar, Hafid Haffaf Department of Computer Science, Oran University Research Laboratory in Industrial Computing and Networks (
RIIR
), PO. Box 1524 El M’Naouar, ORAN, ALGERIA
[email protected]
Abstract
W
e propose cooperation mechanism based on connected autonomous vehicle in seaport container terminal. Using inter-Vehicles communication system, autonomous vehicles can communicate and cooperate to avoid deadlock and collision problem in the intersections points. In order to evaluate the collision detection and management mechanism in the junctions, we develop simulation environment based on Veins simulation framework.
Keywords -
Container terminal, cooperation, avoidance collision, inter-vehicle communication, DSRC, ITS.
3. S IMULATION AND RESULTS
In our simulations, We assume that the horizontal routes have more priority then the vertical ones. We affect for each vehicle node a predefined trajectory as
1. Introduction
Different communication protocols were proposed as standard for ITS. The new emerging applications for enhancing traffic safety found within the VANET which can be classified as real-time system. Existing V2V safety systems together with new cooperative systems using wireless data communication between vehicles can potentially decrease the number of collisions and accidents. Recently, WAVE standards on the dedicated short range communications (DSRC) [1] meets the requirement for road safety messaging and control.
2. I NTER -V EHICLE COMMUNICATION SYSTEM
Three major communication elements form the communication system in an ITS dedicated to a Port Container Terminal Management: autonomous vehicle (V), containers and confined base stations (CBS). In [2], four types of communications are defined using heterogeneous communication technologies. V2V communication enables the cooperation among autonomously driving vehicles. Each vehicle has a radio communication device. It will be able to share their information state (current position, speed, etc) with neighbors based on the distributed short messages.
In the WAVE system, vehicles periodically broadcast beacon messages which are used for cooperative awareness applications. In most cases, the interval of beaconing is expected to be in the range of 100 ms to 1s.
a)
C OLLISION P ROBLEM
The problem of detection and avoidance collisions is one of the 1 st things that should be addressed in controlling and designing ITS. In general, this type of problem can be solved relatively by communication protocol.
A conventional intersection collision detection system based on V2I communication has performance limitations owing to the real-time limitations and the cost of installing the infrastructure. Kim & al propose in[3] cooperative intersection collision detection system using V2V communication which will solve the inaccuracy of the conventional system based on V2I communication.
Table 1
. Defined trajectories in the layout for 10 vehicles
Trajectory 1 [ N1, N2, N11, N12 ] Trajectory 2 Trajectory 3 [ N1, N2, N3, N4, N9, N10, [ N1, N2, N3, N4, N5, N6, N7, N11, N12 ] N8, N9, N10, N11, N12 ] Scenario 1
veh1, veh2, veh8 veh4, veh6, veh10 veh3,veh5, veh7, veh9
Scenario 2
veh1, veh2, veh5 veh3, veh4, veh6,veh8 veh7, veh9,veh10
Table 2
.
Simulation parameters
Parameter
Layout dimension Inter-V distance (minGap) Radio communication IntervalBoadcast Vehicles Number Containers Number Vehicle max Speed Vehicle max acceleration Vehicle max deceleration
Value
100 m x 50 m 2 m 64 m 1 sec 10 10*a / a=1 ..5
7 m/s 0.5 m 2 /s 2.5m
2/ s
Fig. 1
. Cooperative Avoidance of collisions In terminal layout
Fig. 2
. Number of detected collisions
b)
C OOPERATION A VOIDANCE COLLISION
We propose a cooperation protocol based on exchange the following messages: 1. “
HELLO_Msg
”: • Each vehicle periodically advertises its presence along with its position and operational state to other vehicles in its surrounding.
• Vehicles receiving “hello messages” can update their neighbor table.
2. “
Coop_Msg
”: • If vehicle moving in the vertical line will be near to the junction, it communicate with their neighbors in the horizontal lane to determine the priority.
• It models cooperation between concurrent vehicles and serves to verify the charge of the horizontal lane.
.
3. “
ACK_Msg
”: • Vehicle approaching to the junction will be confirmed the reception of the “Coop_Msg” by sending an “ACK_Msg”.
• All the receivers of “ACK_Msg” in the vertical lane are being informed to decelerate, which can pass in order to avoid intersection blocking,
Fig 3. Vehicle speed / time Fig 4. Vehicle acceleration per time 4. R EFERENCES
1. IEEE Guide for Wireless Access in Vehicular Environments :
Architecture , IEEE STD 2013.
2.
Kechar, H. Haffaf «
Communication Architecture Based on Intelligent Autonomous Vehicles for Container Terminals »
2012 12th International Conference on ITS Telecommunications.
3.
H. Cho, B. Kim,
Study on Cooperative Intersection Collision Detection System Based on Vehicle to-Vehicle Communication.
Advanced Science and Technology Letters Vol.58 (Electrical Engineering 2014), pp.121-124
4. Veins site web