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Cooperative Automated Maneuvering at the 2016 Grand Cooperative Driving Challenge
Netherlands Organisation for Applied Scientific Research TNO, Helmond, The Netherlands.ORCID iD: 0000-0001-8332-5860
Netherlands Organisation for Applied Scientific Research TNO, Helmond, The Netherlands.
Eindhoven University of Technology, Eindhoven, The Netherlands.ORCID iD: 0000-0001-8069-5196
Netherlands Organisation for Applied Scientific Research TNO, Helmond, The Netherlands.
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2017 (English)In: IEEE transactions on intelligent transportation systems (Print), ISSN 1524-9050, E-ISSN 1558-0016Article in journal (Refereed) 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. © Copyright 2017 IEEE - All rights reserved.

Place, publisher, year, edition, pages
Piscataway: IEEE Press, 2017.
Keyword [en]
Cooperative driving, interaction protocol, controller design, vehicle platoons, wireless communications
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-35490DOI: 10.1109/TITS.2017.2765669Scopus ID: 2-s2.0-85035089916OAI: oai:DiVA.org:hh-35490DiVA: diva2:1160664
Available from: 2017-11-27 Created: 2017-11-27 Last updated: 2017-12-11

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Englund, Cristofer

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Ploeg, JeroenMorales Medina, Alejandro I.Englund, Cristofer
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