INTRADE (INTELLIGENT 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
bahnes_nacera@yahoo.fr
Abstract
We
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.
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.
3. SIMULATION 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
.
summarized
in table 1.
Table 1. Defined trajectories in the layout for 10 vehicles
Trajectory 1
2. INTER-VEHICLE 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)COLLISION
PROBLEM
The problem of detection and avoidance collisions is one of the 1st 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.
Fig. 1. Cooperative
Avoidance of collisions
In terminal layout
Trajectory 2
Trajectory 3
[N1, N2, N11, N12] [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
Value
Layout dimension
Inter-V distance (minGap)
Radio communication
IntervalBoadcast
Vehicles Number
Containers Number
Vehicle max Speed
100 m x 50 m
2m
64 m
1 sec
10
10*a / a=1 ..5
7 m/s
Vehicle max acceleration
0.5 m2/s
Vehicle max deceleration
2.5m2/s
Fig. 2. Number of
detected collisions
b) COOPERATION AVOIDANCE 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. REFERENCES
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 Vehicleto-Vehicle Communication. Advanced Science and Technology Letters Vol.58 (Electrical Engineering
2014), pp.121-124
4. Veins site web: http: //www. veins.car2x.org