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Cooperative Automated Maneuvering at the 2016 Grand Cooperative Driving Challenge
TNO Netherlands Organisation for Applied Scientific Research, The Netherlands.
TNO Netherlands Organisation for Applied Scientific Research, The Netherlands.
Eindhoven University of Technology,The Netherlands.
TNO Netherlands Organisation for Applied Scientific Research, The Netherlands.
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2018 (engelsk)Inngår i: IEEE transactions on intelligent transportation systems (Print), ISSN 1524-9050, E-ISSN 1558-0016, Vol. 19, nr 4, s. 1213-1226Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]

Cooperative adaptive cruise control and platooning are well- known applications in the field of cooperative automated driving. However, extension toward maneuvering is desired to accommodate common highway maneuvers, such as merging, and to enable urban applications. To this end, a layered control architecture is adopted. In this architecture, the tactical layer hosts the interaction protocols, describing the wireless information exchange to initiate the vehicle maneuvers, supported by a novel wireless message set, whereas the operational layer involves the vehicle controllers to realize the desired maneuvers. This hierarchical approach was the basis for the Grand Cooperative Driving Challenge (GCDC), which was held in May 2016 in The Netherlands. The GCDC provided the opportunity for participating teams to cooperatively execute a highway lane-reduction scenario and an urban intersection-crossing scenario. The GCDC was set up as a competition and, hence, also involving assessment of the teams' individual performance in a cooperative setting. As a result, the hierarchical architecture proved to be a viable approach, whereas the GCDC appeared to be an effective instrument to advance the field of cooperative automated driving.

sted, utgiver, år, opplag, sider
2018. Vol. 19, nr 4, s. 1213-1226
Emneord [en]
Merging, Road transportation, Protocols, Wireless communication, Automation, Trajectory, Safety, adaptive control, cooperative communication, mobile robots, motion control, multi-robot systems, protocols, road safety, road traffic control, road vehicles, traffic engineering computing, vehicular ad hoc networks, velocity control, Cooperative driving, interaction protocol, controller design, vehicle platoons, wireless communications
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Identifikatorer
URN: urn:nbn:se:ri:diva-33814DOI: 10.1109/TITS.2017.2765669Scopus ID: 2-s2.0-85035089916OAI: oai:DiVA.org:ri-33814DiVA, id: diva2:1203929
Tilgjengelig fra: 2018-05-04 Laget: 2018-05-04 Sist oppdatert: 2020-01-23bibliografisk kontrollert

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Voronov, AlexeyEnglund, Cristofer

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