Vehicle automation is used to increase traffic throughput and road safety. Automated vehicles should be highly versatile to navigate on both highways and urban roads. To do so, fully automated autonomous vehicles often adopt motion planners to ensure collision-free and comfortable trajectories. In contrast, in cooperative driving, feedback control is often used to achieve string-stable vehicle-following at very short inter-vehicle distances. In this work, the gap between cooperative vehicle following and trajectory planning is bridged, by using a trajectory planner to generate cooperative trajectories, such that the versatility of an autonomous vehicle is retained, but cooperation is included. The presented method uses B-splines to generate cooperative trajectories. Simulations are used to demonstrate that even under large communication delays, string stable behaviour can be achieved. The use of parametrized trajectories in the form of B-splines ensures only a small number of parameters needs to be communicated between vehicles.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Cooperative Driving of Automated Vehicles Using B-Splines for Trajectory Planning


    Beteiligte:
    vanHoek, Robbin (Autor:in) / Ploeg, Jeroen (Autor:in) / Nijmeijer, Henk (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    01.09.2021


    Format / Umfang :

    1256784 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    GAP CLOSING FOR COOPERATIVE DRIVING IN AUTOMATED VEHICLES USING B-SPLINES FOR TRAJECTORY PLANNING

    Van Hoek, Robbin / Ploeg, Jeroen / Nijmeijer, Henk | British Library Conference Proceedings | 2020


    Real-Time Cooperative Trajectory Planning Using Differential Flatness Approach and B-Splines

    Gu, Xue-Qiang / Zhang, Yu / Chen, Jing et al. | Tema Archiv | 2013


    Quintic G^2 - Splines For Trajectory Planning of Autonomous Vehicles

    Piazzi, A. / Guarino Lo Bianco, C. / IEEE | British Library Conference Proceedings | 2000


    Human-Machine Cooperative Trajectory Planning and Tracking for Safe Automated Driving

    Huang, Chao / Huang, Hailong / Zhang, Junzhi et al. | IEEE | 2022