Title
Interaction protocols for cooperative merging and lane reduction scenarios
Author
Semsar Kazerooni, E.
Ploeg, J.
Publication year
2015
Abstract
This paper presents the interaction protocols developed for execution of two common scenarios in daily traffic using cooperative automated vehicles. The first proposed scenario addresses merging of a (semi-)automated car on a highway within a platoon of (semi-)automated vehicles. The second scenario is an extension of the first scenario with a focus on a lane reduction where a platoon of automated vehicles merges into a second one on a different lane. The proposed interaction protocols are characterized by a sequence of maneuvers to execute the scenarios together with the corresponding communication message sets. Moreover, the vehicle control system should be equipped to implement these protocols. Therefore, the design strategy should address the interaction protocol as well as the control system design. The most important feature of the proposed design strategy is to decompose the scenarios into a sequence of basic maneuvers. This method provides a generic solution which can be implemented to other scenarios, too. Also, the thought behind the design approach is to follow the pattern that human drivers interact in similar daily traffic occasions as well as to ensure a distributed decision making mechanism where no fixed supervisor is required. In both scenarios, the platoon controllers are active to achieve the common control objective of platooning. However, for realization of the proposed scenarios, additional controllers are needed to perform the scenario-specific tasks.
Subject
Fluid & Solid Mechanics
IVS - Integrated Vehicle Safety
TS - Technical Sciences
Safe and Clean Mobility
Electronics
Mobility
Control system synthesis
Design
Intelligent systems
Intelligent vehicle highway systems
Merging
Transportation
Vehicles
Automated vehicles
Communication messages
Control objectives
Distributed decision making
Generic solutions
Important features
Inter-action protocols
Vehicle control system
Controllers
To reference this document use:
http://resolver.tudelft.nl/uuid:512b994b-e9fc-4d49-9bef-ded62090e022
TNO identifier
530898
Publisher
Institute of Electrical and Electronics Engineers Inc.
ISBN
9781467365956
Source
2015 IEEE 18th International Conference on Intelligent Transportation Systems, 1964-1970
Article number
7313410
Document type
conference paper