Design of Resilient Supervisory Control for Autonomous Connected Vehicles Approaching Unsignalized Intersection in presence of Communication Delays

When dealing with security and safety problems, Discrete Events Systems (DESs) could be a convenient way to model the behavior of distributed dynamical systems. The aim of this work is to tailor the DES framework to Autonomous Connected vehicles (ACVs) applications so that it can model their behavior when approaching an unsignalized intersection. Specifically, in this paper, DES networked supervisors are de-signed for managing the interactions among self-driving cars when negotiating access to a traffic junction in the presence of communication delays. By exploiting the concepts of delay observability and controllability, we propose different supervisor solutions to assess the resilience of the intersection crossing to communication delays and we disclose the best suitable for the automotive application, as well as its effectiveness.