This paper presents an experimental evaluation of a concept for platooning and cooperative merging of networked vehicles in case of an upcoming lane reduction. In order to test the platooning and merging concept, differential-driven robots are used. Low level path controllers are designed to guide the robots to a prescribed path on which the robots can be represented by linear models. Furthermore, a lane changing approach will be presented that maintains the longitudinal inter-robot distance while moving laterally to the other lane. The effectiveness of the proposed methods is discussed with experimental results.
Experimental Evaluation of an Adaptive Cruise Control and Cooperative Merging Concept
2020-08-01
1045515 byte
Conference paper
Electronic Resource
English
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