1/10 scale model miniature vehicles implemented on Traxxas chassis to emulate an autonomous intersection without a traffic light. ESP8266 Wi-Fi modules were used for low-level control of robots, OptriTrack system is used for localization, and ROS was used for communication.
Inspired by Responsibility-Sensitive Safety (RSS) model by Intel+Mobileye, each CAV accounts for the worst-case behavior of other CAVs for motion planning. Deadlocks are detected and resolved through consensus (simulated in Matlab).
3 Autonomous Vehicles approaching an intersection and a traffic light manages the intersection.
The Intersection Manager (IM) assigns a safe Time of Arrival (TOA) and Velocity of Arrival (VOA) to each incoming CAV (Simulated in Matlab).
Two ArduCam modules are used to take a picture simultaneously. The main controller (implemented in LabVIEW) sends a command and timestamp to devices. The taken picture is used to indicate the synchronization level. ArduCam modules sync their clock with the controller periodically.
The speed of two DC motors are controlled by two Arduino Mega2560 boards based on an optical sensor that detects a hole on the 360 degrees dial. A strobe (synced with one of the motors) is used to visualize the dials.