INTRADE (INTELLIGENT TRANSPORTATION FOR DYNAMIC ENVIRONMENT) PROJECT. FINAL WORKSHOP 4 & 5 DECEMBER 2014 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 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. Avoidance collision using V2V Communication in container terminal 1. Introduction Intelligent Transportation Systems (ITS) have transformed surface transportation networks through the integration of advanced communications and computing technologies into the transportation infrastructure. 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 vehicle-to-vehicle safety systems together with new cooperative systems using wireless data communication between vehicles which can potentially decrease the number of collisions and accidents. Recently, WAVE (wireless access vehicular environment) 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 If two vehicles wishing to pass in the same junction where vehicle is inside a region and other vehicle has access. So, both vehicles want to access at the same intersection as depicted in the figure 1. The problem of detection and avoidance collisions is one of the first 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.. 4. R EFERENCES 1. IEEE Guide for Wireless Access in Vehicular Environments : Architecture, IEEE STD Kechar, H. Haffaf « Communication Architecture Based on Intelligent Autonomous Vehicles for Container Terminals » th 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 Veins site web: http: //www. veins.car2x.org Trajectory1 [N1,N2,N11,N12] Trajectory 2 [N1,N2,N3,N4,N9,N10,N11,N12] Trajectory 3 [N1,N2,N3,N4,N5,N6,N7, N8,N9,N10,N11,N12] scenario 1veh1, veh2, veh8veh4, veh6, veh10veh3,veh5, veh7, veh9 Scenario 2veh1, veh2, veh5veh3, veh4, veh6,veh8veh7, veh9,veh10 Fig 2 shows that the number the collision appeared when the 10 Autonomous vehicles transport the containers from the quay side to the storage areas according to the different circuits (trajectiories). Fig.3 and Fig.4 present speed and acceleration of the 10 autonomous vehicles respectively in the case of the handle of the 50 containers. ParameterValue Layout dimension100 m x 50 m Inter-V distance (minGap)2 m Radio communication64 m IntervalBoadcast1 sec Vehicles Number10 Containers Number10*a / a=1..5 Vehicle max Speed7 m/s Vehicle max acceleration0.5 m 2 /s Vehicle max deceleration2.5m 2/ s Table 2. Simulation parameters 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 summarized in table 1. Parameters of simulation are listed in table 2. The results of simulation steady according to the scenarios that we have performed under Veins [4], Veins provides some modules which can be used for TraCI interaction with SUMO simulator. b) C OOPERATION A VOIDANCE COLLISION We propose a cooperation protocol based on exchange messages defined as follow: 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”: when the vehicle is moving in the vertical lane and it will be near to the intersection area, this vehicle must 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 Fig. 2. Number of detected collisions Fig. 1. Cooperative Avoidance of collisions In terminal layout Table 1. Defined trajectories in the layout for 10 vehicles