Cooperative Automated Driving for Various Traffic Scenarios: Experimental Validation in the GCDC 2016

Cooperative automated driving is a promising technology to improve road safety, fuel consumption, and traffic throughput without the need to expand the current infrastructure. To accelerate the developments in cooperative driving toward deployment in realistic traffic, the second grand cooperative driving challenge (GCDC) took place in Helmond, The Netherlands, in 2016. The aim of this implementation oriented challenge is to validate the practical feasibility and benefits of cooperative automated driving in the context of several advanced traffic scenarios, including cooperative merging on a highway and cooperative intersection crossing. Since all scenarios require road participants to cooperate, an interaction protocol was provided for each scenario. Except for this pre-defined interaction protocol, each team had full flexibility in developing the cooperative automated vehicle system. As such, one of the main difficulties of the challenge was to ensure interoperability despite the fact that each road participant might use different vehicle types and vehicle control systems that have been developed independently. In this paper, the authors provide an overview of the ATeam’s implementation of the cooperative automated driving system for the cooperative merging on a highway and cooperative intersection crossing scenarios. This overview addresses the hardware architecture used during GCDC and, the design and integration of the required software layers. This paper also addresses practical issues that need to be taken into account when developing a cooperative automated driving system such as the limited capabilities of sensors and imperfections induced by the packet-based communication. Moreover, that authors present experimental results that were obtained during the challenge.

• Record URL:
  https://doi.org/10.1109/TITS.2017.2750079
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/oclc/41297384
• Supplemental Notes:
  • Copyright © 2018, IEEE.
• Authors:
  • Dolk, Victor
  • Ouden, Jos den
  • Steeghs, Sander
  • Devanesan, Jason Gideon
  • Badshah, Irfan
  • Sudhakaran, Adityen
  • Elferink, Koos
  • Chakraborty, Debayan
• Publication Date: 2018-4

Language

• English

Media Info

• Media Type: Digital/other
• Features: Figures; References;
• Pagination: pp 1308-1321
• Serial:
  • IEEE Transactions on Intelligent Transportation Systems
  • Volume: 19
  • Issue Number: 4
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
  • ISSN: 1524-9050
  • Serial URL: http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6979

Subject/Index Terms

• TRT Terms: Automated highways; Automated vehicle control; Dedicated short range communications; Intelligent vehicles; Intersections; Mathematical models; Merging traffic; Motor vehicle dynamics; System architecture; Traffic platooning; Vehicle to vehicle communications
• Uncontrolled Terms: Cooperative systems
• Subject Areas: Data and Information Technology; Highways; Operations and Traffic Management; Planning and Forecasting; Vehicles and Equipment;

Filing Info

• Accession Number: 01671085
• Record Type: Publication
• Files: TLIB, TRIS
• Created Date: May 29 2018 5:18PM