Along with the use of modern technologies and increasing automation in the direction of SAE levels 4 & 5, efforts are also being made in the area of communication between vehicles and with infrastructure to form so-called Intelligent Traffic Systems (ITS). These enable new types of cooperative functions, most of which place considerable demands on computing power and communication parameters such as range, latency and throughput. The requirements and the associated complexity vary considerably depending on the type and number of road users and the traffic situation. Within the scope of this work, architectures and algorithms for cooperative vehicles are developed, which aim to enable a holistic view of the complex of topics and be flexibly adaptable. An architecture is designed, which in particular takes into account the concept of Local Traffic Systems (LTS) as superordinate groups of mutually relevant traffic participants. Here, a distinction is made between the traffic layer for LTS management and general mission planning, the trajectory control layer for tactical maneuver decisions, and the stabilization layer for trajectory tracking. For each layer, corresponding algorithms and solution approaches are designed. Thus, at the traffic layer, in addition to a modeling of the environment, a search algorithm for group formation as well as the necessary management mechanisms for the formation and resolution of LTS are described. At the trajectory control layer, there is a focus on abstract, tactical maneuvers. These are described as well and two approaches to planning cooperative maneuvers are developed. At the stabilization layer, three methods for trajectory tracking are presented. In the context of a simulative validation, all procedures are examined at different levels of integration according to the chosen research methodology. It is shown that, except for the real-time capability of the implemented model predictive control method, all requirements can be met. Thus, the realized system can in principle also be used in field tests, provided that a sufficiently performant communication interface can be guaranteed. Overall, it can be shown that the designed architecture and the associated algorithms are suitable to support future cooperative driving functions and vehicles.
Architekturen und Algorithmen für kooperative Automobile
Architectures and algorithms for cooperative vehicles
2021-01-01
1 Online-Ressource pages
Dissertation, RWTH Aachen University, 2021; Aachen : RWTH Aachen University, Schriftenreihe Automobiltechnik 242/21, 1 Online-Ressource (2021). doi:10.18154/RWTH-2021-07491 = Dissertation, RWTH Aachen University, 2021
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Kooperative Automobile - Gemeinsame Verhaltensentscheidung mehrerer Fahrzeuge
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