Cooperative adaptive cruise control: An artificial potential field approach

Semsar-Kazerooni, Elham; Verhaegh, Jan; Ploeg, Jeroen; Alirezaei, Mohsen

doi:10.1109/ivs.2016.7535411

Cited by 33 publications

(13 citation statements)

References 17 publications

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“…Hence, the SV needs to have accurate situational awareness of the surrounding obstacles in this range to plan safe trajectories. The authors in [20] mentioned that embedding driving rules and collision avoidance constraints within a multi-objective optimisation problem results in a control laws with large computation requirements. Furthermore, potential field-like functions for environmental perception can be shaped in such a way that it guides towards desired driving behaviour.…”

Section: Perceptionmentioning

confidence: 99%

Trajectory Planning for Autonomous High-Speed Overtaking using MPC with Terminal Set Constraints

Dixit

Montanaro

Fallah

et al. 2018

2018 21st International Conference on Intelligent Transportation Systems (ITSC)

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With self-driving vehicles being pushed towards the mainstream , there is an increasing motivation towards development of systems that autonomously perform manoeuvres involving combined lateral-longitudinal motion (e.g., lanechange, merge, overtake, etc.). This paper presents a situational awareness and trajectory planning framework for performing autonomous overtaking manoeuvres. A combination of a potential field-like function and reachability sets of a vehicle are used to identify safe zones on a road that the vehicle can navigate towards. These safe zones are provided to a model predictive controller as reference to generate feasible trajectories for a vehicle. The strengths of the proposed framework are: (i) it is free from non-convex collision avoidance constraints, (ii) it ensures feasibility of trajectory, and (iii) it is real-time implementable. A proof of concept simulation is shown to demonstrate the ability to plan trajectories for high-speed overtaking manoeuvres.

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Section: Perceptionmentioning

confidence: 99%

Trajectory Planning for Autonomous High-Speed Overtaking using MPC with Terminal Set Constraints

Dixit

Montanaro

Fallah

et al. 2018

2018 21st International Conference on Intelligent Transportation Systems (ITSC)

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“…Moreover, such approach is known to reduce fuel consumption and provide more comfort to the user, compared to the human control of vehicles [3]. By allowing the vehicles to share their motion and control information through wireless communication, the minimum allowable inter-vehicular time headway can be decreased [4], [5]. However, the wireless medium that is used to share this information is unreliable.…”

Section: Imentioning

confidence: 99%

Cooperative adaptive cruise control over unreliable networks: an observer-based approach to increase robustness to packet loss

Acciani

Frasca

Stoorvogel

et al. 2018

2018 European Control Conference (ECC)

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Cooperative Adaptive Cruise Control (CACC) is nowadays a promising technique to increase highway throughput, safety and comfort for vehicles. Enabled by wireless communication, CACC allows a platoon of vehicles to achieve better performance than Adaptive Cruise Control; however, since wireless is employed, problems related to unreliability arise. In this paper, we design a digital controller to achieve platoon stability, enhanced by an observer to increase robustness against packet losses. A preliminary set of simulation results is presented, which confirms the interest of using an observer in combination with a local and cooperative digital controller.

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“…For this safety-focused driver advice system, the relief of bottlenecks congestion has great potential to increase the capacity of lane closure areas to some extent, leading to mobility co-benefit. Another typical example of CAV applications which aims to improve both traffic flow and safety is the Cooperative Adaptive Cruise Control (CACC) system [17]. Dey et al presented an overall review of CACC system-related performance evaluation.…”

Section: A Vehicle-centric Cav Applications 1) Safety and Mobility Co-mentioning

confidence: 99%

Performance Measurement Evaluation Framework and Co-Benefit\/Tradeoff Analysis for Connected and Automated Vehicles (CAV) Applications: A Survey

Tian

Boriboonsomsin

et al. 2018

IEEE Intell. Transport. Syst. Mag.

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A number of Connected and/or Automated Vehicle (CAV) applications have recently been designed to improve the performance of our transportation system. Safety, mobility and environmental sustainability are three cornerstone performance metrics when evaluating the benefits of CAV applications. These metrics can be quantified by various measures of effectiveness (MOEs). Most of the existing CAV research assesses the benefits of CAV applications on only one (e.g., safety) or two (e.g., mobility and environment) aspects, without holistically evaluating the interactions among the three types of MOEs. This paper first proposes a broad classification of CAV applications, i.e., vehicle-centric, infrastructure-centric, and traveler-centric. Based on a comprehensive literature review, a number of typical CAV applications have been examined in great detail, where a categorized analysis in terms of MOEs is performed. Finally, several conclusions are drawn, including the identification of influential factors on system performance, and suggested approaches for obtaining co-benefits across different types of MOEs.

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Cooperative adaptive cruise control: An artificial potential field approach

Cited by 33 publications

References 17 publications

Trajectory Planning for Autonomous High-Speed Overtaking using MPC with Terminal Set Constraints

Trajectory Planning for Autonomous High-Speed Overtaking using MPC with Terminal Set Constraints

Cooperative adaptive cruise control over unreliable networks: an observer-based approach to increase robustness to packet loss

Performance Measurement Evaluation Framework and Co-Benefit\/Tradeoff Analysis for Connected and Automated Vehicles (CAV) Applications: A Survey

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