Cooperative Automated Maneuvering at the 2016 Grand Cooperative Driving Challenge

Abstract

Abstract-Cooperative adaptive cruise control and platooning are well-known applications in the field of cooperative automated driving. However, extension towards 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 lanereduction 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.Index Terms-Cooperative driving, interaction protocol, controller design, vehicle platoons, wireless communications. A. Voronov and C. Englund are with RISE Viktoria,

A hierarchical approach for splitting truck platoons near network discontinuities

“…Using the Hamiltonian, we can derive the necessary condition for optimality with: u * = arg min u H(x, u, λ). Furthermore, the co-state has to satisfy the following dynamic equation: (19) subject to the terminal conditions of λ(t 0 + T p ) [29]. In particular, in this study the running cost in Equation 20 was implemented.…”

“…where we omit the t dependence for the sake of readability. The optimal control problem is transcribed to a set of coupled ordinary differential equations of (13) and (19). An iterative algorithm is proposed to solve the problem efficiently.…”

“…Cooperative automated maneuvering protocols were designed for a highway lane drop scenario and an unsignalized T-intersection in [19]. Field tests by 9 teams with CAVs under a real network but restricting normal traffic show the performance of the maneuver protocols.…”

Negotiation of Cooperative Maneuvers for Automated Vehicles: Experimental Results

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Platoon Merging Approach Based on Hybrid Trajectory Planning and CACC Strategies

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