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.


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    Title :

    Cooperative driving of autonomous vehicles based on localization, inter-vehicle communications and vision systems


    Additional title:

    Autonomes Fahren auf Basis von Satellitennavigation, Fahrzeug-Fahrzeug-Kommunikation und Vision-System


    Contributors:
    Kato, S. (author) / Tsugawa, S. (author)

    Published in:

    JSAE Review ; 22 , 4 ; 503-509


    Publication date :

    2001


    Size :

    7 Seiten, 16 Bilder, 15 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




    Cooperative driving of autonomous vehicles based on localization, inter-vehicle communications and vision systems

    Kato,S. / Tsugawa,S. / Nat.Inst.of Advanced Indust.Science and Technol,AIST,JP | Automotive engineering | 2001




    Cooperative Driving of Automated Vehicles with Inter-vehicle Communications

    Sakaguchi, T. / Uno, A. / Kato, S. et al. | British Library Conference Proceedings | 2000


    Cooperative driving of automated vehicles with inter-vehicle communications

    Sakaguchi, T. / Uno, A. / Kato, S. et al. | IEEE | 2000