Crossroads: Time-Sensitive Autonomous Intersection Management Technique

Edward Andert, Mohammad Khayatian, Aviral Shrivastava

Research output: Chapter in Book/Report/Conference proceedingConference contribution

22 Scopus citations


For autonomous vehicles, intelligent autonomous intersection management will be required for safe and efficient operation. In order to achieve safe operation despite uncertainties in ve-hicle trajectory, intersection management techniques must consider a safety buffer around the vehicles. For truly safe operation, an extra buffer space should be added to account for the network and computational delay caused by com-munication with the Intersection Manager (IM). However, modeling the worst-case computation and network delay as additional buffer around the vehicle degrades the through-put of the intersection. To avoid this problem, AIM[1], a popular state-of-The-Art IM, adopts a query-based approach in which the vehicle requests to enter at a certain arrival time dictated by its current velocity and distance to the intersection, and the IM replies yes/no. Although this solu-tion does not degrade the position uncertainty, it ultimately results in poor intersection throughput. We present Cross-roads, a time-sensitive programming method to program the interface of a vehicle and the IM. Without requiring addi-tional buffer to account for the effect of network and compu-tational delay, Crossroads enables efficient intersection man-agement. Test results on a 1=10 scale model of intersection using TRAXXAS RC cars demonstrates that our Crossroads approach obviates the need for large buffers to accommo-date for the network and computation delay, and can re-duce the average wait time for the vehicles at a single-lane intersection by 24%. To compare Crossroads with previ-ous approaches, we perform extensive Matlab simulations, and find that Crossroads achieves on average 1.62X higher throughput than a simple VT-IM with extra safety buffer, and 1.36X better than AIM.

Original languageEnglish (US)
Title of host publicationProceedings of the 54th Annual Design Automation Conference 2017, DAC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781450349277
StatePublished - Jun 18 2017
Event54th Annual Design Automation Conference, DAC 2017 - Austin, United States
Duration: Jun 18 2017Jun 22 2017

Publication series

NameProceedings - Design Automation Conference
VolumePart 128280
ISSN (Print)0738-100X


Other54th Annual Design Automation Conference, DAC 2017
Country/TerritoryUnited States

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Modeling and Simulation


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