Coordinated Maneuvering of Automated Vehicles in Platoons

In this article the authors describe the coordination of automated vehicle maneuvers by a distributed computational architecture through emulation using mobile robot platoons. Vehicle coordination is formulated by separating tasks into sensing and communicating information. Maneuvering tasks outlined include entering, exiting, and accident recovery. Cooperative driving using robot platoons is tested, specifically designed to determine how well the autonomous units integrate sensed information between themselves. Researchers avoid the standard centralized platooning approach as it can lead to failure if the leader malfunctioned. Also, the centralized approach requires a greater bandwidth as well as processing load than the proposed approach. Total decentralization is also not an option as communication regarding sensing is necessary for proper entering and exiting. In the proposed approach, localization of vehicles by one another is necessary to the requisite information can be distributed among each vehicle that has limited sensing on its own. The robot testing confirmed the authors’ distributed computational architecture.

• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/oclc/41297384
• Authors:
  • Michaud, Francois
  • Lepage, Pierre
  • Frenette, Patrick
  • Letourneau, Dominic
  • Gaubert, Nicolas
• Publication Date: 2006-12

Language

• English

Media Info

• Media Type: Print
• Features: Figures; Photos; References; Tables;
• Pagination: pp 437-447
• Serial:
  • IEEE Transactions on Intelligent Transportation Systems
  • Volume: 7
  • 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: Computer vision; Crash avoidance systems; Distributed control; Intelligent transportation systems; Mobile robots; Testing; Traffic platooning; Vehicle to vehicle communications
• Subject Areas: Highways; Operations and Traffic Management; I73: Traffic Control;

Filing Info

• Accession Number: 01080213
• Record Type: Publication
• Source Agency: UC Berkeley Transportation Library
• Files: BTRIS, TRIS
• Created Date: Oct 31 2007 6:38AM