Abstract
dc:description.abstractThis dissertation presents a multi-layer framework to enhance the efficiency, predictability, and scalability of autonomous vehicle (AV) systems by addressing critical challenges across system, application, and communication layers. At the system layer, a novel Extended Conflict Directed Graph (ECDG) model is introduced to enable dynamic lane assignment in unsignalized intersection management, improving flexibility and traffic flow coordination. A scheduling algorithm based on breadth-first search achieves up to 16.3% reduction in intersection evacuation time and 27.7% improvement in traffic efficiency. At the application layer, a 1-opt local search-based scheduling framework is proposed for non-preemptive real-time Directed Acyclic Graph (DAG) tasks. Using convex subspace partitioning and linear programming to minimize timing metrics such as Data Age, Reaction Time, and Time Disparity, the approach yields 20% to 40% reductions in worst-case latency with strong scalability and polynomial-time complexity. At the communication layer, the Partitioned Combined-DBP-TCCP (PCDT) protocol enables wait-free multicore data communication with configurable buffer strategies tailored to task timing requirements. Two optimization strategies, priority assignment with preemption thresholds (PA-MBTT) and wait-free-aware task partitioning (WFAP+), further reduce memory demands, achieving over 50% savings in simulation and 43% in a real-world automotive case study. Together, these contributions form an integrated and theoretically grounded solution for building real-time, safe, and resource-efficient AV platforms, advancing the state of the art in autonomous systems and real-time embedded computing.
Degree
thesis:*- Name thesis:degree_name
- Doctor of Philosophy
- Level thesis:degree_level
- doctoral
- Discipline thesis:degree_discipline
- Computer Engineering
- Department dc:contributor.department
- Electrical and Computer Engineering
- Grantor dc:publisher
- Virginia Tech
- Year dc:date.issued
- 2025
Author and committee
dc:creator, dc:contributor.*- Author dc:creator
-
- Li, Dong
- Chair dc:contributor.committeechair
-
- Zeng, Haibo
- Committee members dc:contributor.committeemember
-
- Chantem, Thidapat
- Hsiao, Michael S.
- Farhood, Mazen H.
- Gerdes, Ryan M.
Subjects
dc:subject × 4Rights
dc:rights- Statement dc:rights
-
- In Copyright
- Licence dc:rights.uri
- Language dc:language.iso
- en
Identifiers
dc:identifier.*- Dc Identifier Other
- vt_gsexam:44383
- OAI identifier oai:identifier
- oai:vtechworks.lib.vt.edu:10919/136483