Development of Platform-Independent System for Cooperative Automated Driving Evaluated in GCDC 2016

Cooperative automated driving is a promising development in reducing energy consumption and emissions, increasing road safety, and improving traffic flow. The Grand Cooperative Driving Challenge (GCDC) 2016 was an implementation oriented project with the aim to accelerate research and development in the field. This paper describes the development of the two vehicle systems with which KTH participated in GCDC 2016. It presents a reference system architecture for collaborative automated driving as well as its instantiation on two conceptually different vehicles: a Scania truck and the research concept vehicle, built at KTH. The authors describe the common system architecture, as well as the implementation of a selection of shared and individual system functionalities, such as V2X communication, localization, state estimation, and longitudinal and lateral control. The authors also present a novel approach to trajectory tracking control for a four-wheel steering vehicle using model predictive control and a novel method for achieving fair data age distribution in vehicular communications.

Language

  • English

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Filing Info

  • Accession Number: 01671078
  • Record Type: Publication
  • Files: TLIB, TRIS
  • Created Date: Mar 29 2018 4:50PM