Demonstration of integrated longitudinal and lateral control for the operation of automated vehicles in platoons

Rajamani, Rajesh; Tan, Han-Shue; Law, Boon; Zhang, Wei-Bin

doi:10.1109/87.852914

Cited by 503 publications

(261 citation statements)

References 10 publications

Supporting

Mentioning

258

Contrasting

Unclassified

Order By: Relevance

“…In this paper, we consider lane change as a manual driving behavior and the default lane change model, LC2013 [10], in SUMO is adopted as the lateral control logic. Collaborative driving with lane change cooperation [30] is beyond the scope of this paper.…”

Section: Lane Change Maneuvermentioning

confidence: 99%

Platoon management with cooperative adaptive cruise control enabled by VANET

Amoozadeh

Deng

Chuah

et al. 2015

Vehicular Communications

288

147

View full text Add to dashboard Cite

TitlePlatoon management with cooperative adaptive cruise control enabled by VANET AbstractPrevious studies have shown the ability of vehicle platooning to improve highway safety and throughput. With Vehicular Ad-hoc Network (VANET) and Cooperative Adaptive Cruise Control (CACC) system, vehicle platooning with small headway becomes feasible. In this paper, we developed a platoon management protocol for CACC vehicles based on wireless communication through VANET. This protocol includes three basic platooning maneuvers and a set of micro-commands to accomplish these maneuvers. Various platooning operations such as vehicle entry and vehicle (including platoon leader) leaving can be captured by these basic platoon maneuvers. The protocol operation is described in detail using various Finite State Machines (FSM), and can be applied in collaborative driving and intelligent highway systems. This protocol is implemented in an integrated simulation platform, VENTOS, which is developed based on SUMO and OMNET++. The validity and effectiveness of our approach is shown by means of simulations, and different platooning setting are calibrated.

show abstract

Section: Lane Change Maneuvermentioning

confidence: 99%

Platoon management with cooperative adaptive cruise control enabled by VANET

Amoozadeh

Deng

Chuah

et al. 2015

Vehicular Communications

288

147

View full text Add to dashboard Cite

show abstract

“…A global chassis control involving an active suspension and ABS was proposed by Gáspár et al (2010); Zin et al (2008). The driveline system and the brake were integrated in Rajamani et al (2000). A possible integration of the brake, steering and suspension system was presented by Trachtler (2004).…”

Section: Introductionmentioning

confidence: 99%

Fault-tolerant control design for trajectory tracking in driver assistance systems

Németh

Gáspár

Bokor

et al. 2012

IFAC Proceedings Volumes

View full text Add to dashboard Cite

“…The task of planning is primarily to decide, at every instance of time, the lane and speed of travel [7][8]. On the contrary some countries like India stick to unorganized traffic wherein a vehicle can travel anywhere on the road and sticking to a particular lane is not a requirement [9][10][11].…”

Section: Introductionmentioning

confidence: 99%

Dynamic distributed lanes: motion planning for multiple autonomous vehicles

Kala

Warwick

2014

Appl Intell

View full text Add to dashboard Cite

Unorganized traffic is a generalized form of travel wherein vehicles do not adhere to any predefined lanes and can travel in-between lanes. Such travel is visible in a number of countries e.g. India, wherein it enables a higher traffic bandwidth, more overtaking and more efficient travel. These advantages are visible when the vehicles vary considerably in size and speed, in the absence of which the predefined lanes are near-optimal. Motion planning for multiple autonomous vehicles in unorganized traffic deals with deciding on the manner in which every vehicle travels, ensuring no collision either with each other or with static obstacles. In this paper the notion of predefined lanes is generalized to model unorganized travel for the purpose of planning vehicles travel. A uniform cost search is used for finding the optimal motion strategy of a vehicle, amidst the known travel plans of the other vehicles. The aim is to maximize the separation between the vehicles and static obstacles. The search is responsible for defining an optimal lane distribution among vehicles in the planning scenario. Clothoid curves are used for maintaining a lane or changing lanes. Experiments are performed by simulation over a set of challenging scenarios with a complex grid of obstacles. Additionally behaviours of overtaking, waiting for a vehicle to cross and following another vehicle are exhibited.

show abstract

Demonstration of integrated longitudinal and lateral control for the operation of automated vehicles in platoons

Cited by 503 publications

References 10 publications

Platoon management with cooperative adaptive cruise control enabled by VANET

Platoon management with cooperative adaptive cruise control enabled by VANET

Fault-tolerant control design for trajectory tracking in driver assistance systems

Dynamic distributed lanes: motion planning for multiple autonomous vehicles

Contact Info

Product

Resources

About