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Cooperative Autonomous Driving in Simulation
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Orientador(es)
Resumo(s)
In this master’s thesis, we defined, implemented, and evaluated an architecture tailored to a
simulation environment to assess cooperative autonomous driving protocols.
The primary objective of this thesis is to showcase the benefits of employing this architecture
to enhance driver and passenger safety in scenarios with coordination problems between vehicles.
Additionally, this thesis aims to assess the resilience of the protocol implemented in the architecture. We tested it in demanding scenarios, such as intersections with a high volume of vehicles or
situations with significant latency and communication failures between vehicles. These stress tests
allow us to evaluate the protocol’s robustness and ability to prevent failures in such challenging
conditions.
Consequently, this thesis contributes by defining an architecture that facilitates vehicle-tovehicle communication for resolving coordination issues. This solution allows the incorporation
of protocols specifically designed to address coordination challenges among vehicles. Furthermore, this thesis also makes a substantial contribution by implementing and testing the proposed
architecture, incorporating a protocol responsible for coordinating vehicles at intersections to ensure the safety of drivers and passengers.
To conduct the solution testing, we utilized a highly realistic simulator known as SVL. This
simulator was crucial in creating the testing scenarios, including environmental conditions and
vehicle dynamics. The key findings from our testing demonstrate that adopting this architecture
mitigates accidents and potentially hazardous situations at intersections compared to scenarios
where it is not utilized, resulting in improved safety. We also verified that the protocol can manage
many vehicles, even when the communication latency between the vehicles is high.
Descrição
Tese de Mestrado, Informática, 2024, Universidade de Lisboa, Faculdade de Ciências
Palavras-chave
Cooperação entre veículos Veículo autónomo Problemas de coordenação Consenso Trânsito Teses de mestrado - 2024