A Fault-Tolerant Intersection Control Algorithm Under the Connected Intelligent Vehicles Environment

Abstract

In this paper, we introduce a fault-tolerant invents-based intersection control algorithm which relies on vehicle-to-vehicle or vehicle-to-infrastructure communications to control the traffic and grant the privilege to cross the intersection. The primary-backup approach is adopted in this work, where a backup controller is added to monitor the primary controller and to take on once it discovers that it has failed. The proposed solution guarantees that the safety, liveness, and fairness properties are satisfied all the time.