# Distributed Algorithm for Collision Avoidance at Road Intersections in the Presence of Communication Failures

## TL;DR

This paper introduces a distributed, fault-tolerant algorithm for autonomous vehicle intersection crossing that maintains safety and efficiency despite communication failures, validated through real data analysis.

## Contribution

A novel distributed intersection crossing algorithm that tolerates unknown communication failures, ensuring safety and liveness in autonomous vehicle coordination.

## Key findings

- Safety and liveness are maintained under realistic failure scenarios.
- Crossing delays are only slightly increased with correlated communication failures.
- Algorithm is validated with real-world data.

## Abstract

Vehicle-to-vehicle (V2V) communication is a crucial component of the future autonomous driving systems since it enables improved awareness of the surrounding environment, even without extensive processing of sensory information. However, V2V communication is prone to failures and delays, so a distributed fault-tolerant approach is required for safe and efficient transportation. In this paper, we focus on the intersection crossing (IC) problem with autonomous vehicles that cooperate via V2V communications, and propose a novel distributed IC algorithm that can handle an unknown number of communication failures. Our analysis shows that both safety and liveness requirements are satisfied in all realistic situations. We also found, based on a real data set, that the crossing delay is only slightly increased even in the presence of highly correlated failures.