This paper deals with algorithms for cooperative driving or flexible platooning of autonomous vehicles and experimental results on a test track. The cooperative driving, aiming at compatibility of safety and efficiency of road traffic, here implies the autonomous vehicles take such a formation as platooning including lane changing, overtaking, cutting-in, merging, and transitions between them. Each vehicle is equipped with a machine vision system for preceding vehcile detection, a laser radar for inter-vehicle gap measurement, the DGPS and the inter-vehicle communications function. The lateral control algorithm uses the DGPS localization data and maps. The longitudinal control algorithm is based on PD control with the inter-vehicle gap measurement. The autonomous vehicles drive with the headway of about 12 m at 40 km/h on a test track, while the following vehicle traces the same trajectory of the preceeding one when not only lane following but also lane changing.
Cooperative driving of autonomous vehicles based on localization, inter-vehicle communications and vision systems
Autonomes Fahren auf Basis von Satellitennavigation, Fahrzeug-Fahrzeug-Kommunikation und Vision-System
JSAE Review ; 22 , 4 ; 503-509
2001
7 Seiten, 16 Bilder, 15 Quellen
Article (Journal)
English
Automotive engineering | 2001
|British Library Conference Proceedings | 2000
|Cooperative Driving of Automated Vehicles with Inter-vehicle Communications
British Library Conference Proceedings | 2000
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