Impact of Positioning Uncertainty on Autonomous Intersection Management System

Connected Autonomous Vehicles (AVs) have the potential to revolutionize Intelligent Transportation Systems (ITS) by addressing urban transport challenges, such as Autonomous Intersection Management (AIM). However, the assumption of highly accurate positioning in most ITS applications does not align with real-life situations. While extensive research has been conducted to improve positioning accuracy, few studies have evaluated the impact of position accuracy on AV systems. This paper investigates the level of positioning errors that our state-of-the-art AIM system, which outperforms conventional intersection management systems, can tolerate. A comprehensive analysis of positioning accuracy requirements for a collision-free AIM system is conducted. The investigation reveals that our AIM system can safely handle vehicles' movements in the presence of positioning errors up to four meters in a high traffic flow rate. Furthermore, the impact of sensor accuracy and wireless communication uncertainties on control strategies is considered. This research provides valuable insights into the challenges of designing robust autonomous systems that can withstand various uncertainties, including positioning techniques, and demonstrates the potential of AVs in enhancing ITS.