TY - JOUR
T1 - Cooperative automated maneuvering at the 2016 Grand Cooperative Driving Challenge
AU - Ploeg, Jeroen
AU - Semsar-Kazerooni, Elham
AU - Morales Medina, Alejandro Ivan
AU - de Jongh, Jan F.C.M.
AU - van de Sluis, Jacco
AU - Voronov, Alexey
AU - Englund, Cristofer
AU - Bril, Reinder J.
AU - Salunkhe, Hrishikesh
AU - Arrue, Alvaro
AU - Ruano, Aitor
AU - Garcia-Sol, Lorena
AU - van Nunen, Ellen
AU - van de Wouw, Nathan
PY - 2017
Y1 - 2017
N2 - 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.
AB - 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.
KW - Automation
KW - controller design
KW - Cooperative driving
KW - interaction protocol
KW - Merging
KW - Protocols
KW - Road transportation
KW - Safety
KW - Trajectory
KW - vehicle platoons
KW - Wireless communication
KW - wireless communications.
UR - http://www.scopus.com/inward/record.url?scp=85035089916&partnerID=8YFLogxK
U2 - 10.1109/TITS.2017.2765669
DO - 10.1109/TITS.2017.2765669
M3 - Article
AN - SCOPUS:85035089916
SN - 1524-9050
VL - 19 (April 2018)
SP - 1213
EP - 1226
JO - IEEE Transactions on Intelligent Transportation Systems
JF - IEEE Transactions on Intelligent Transportation Systems
IS - 4
ER -