Cooperative automated maneuvering at the 2016 Grand Cooperative Driving Challenge

Journal article (2017)

Authors

Aitor Ruano Applus+ IDIADA
Lorena Garcia-Sol Applus+ IDIADA
N. van de Wouw Eindhoven University of Technology, Team Bart De Schutter - Mechanical, Maritime and Materials Engineering , University of Minnesota
Alejandro Ivan Morales Medina Eindhoven University of Technology
Alexey Voronov RISE Viktoria
Cristofer Englund RISE Viktoria
Reinder J. Bril Eindhoven University of Technology
Hrishikesh Salunkhe Thermo Fisher Scientific
Alvaro Arrue Applus+ IDIADA
Research Group
Team Bart De Schutter (Mechanical, Maritime and Materials Engineering) (TU Delft)
Safety Automation Controller design Trajectory Merging Protocols Road transportation Wireless communication Cooperative driving Vehicle platoons Interaction protocol Wireless communications.
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Published Date

2017

Language

English

Reuse Rights

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Bart De Schutter

Abstract

Cooperative adaptive cruise control and platooning are well-known applications in the field of cooperative automated driving. However, extension toward maneuvering is desired to accommodate common highway maneuvers, such as merging, and to enable urban applications. To this end, a layered control architecture is adopted. In this architecture, the tactical layer hosts the interaction protocols, describing the wireless information exchange to initiate the vehicle maneuvers, supported by a novel wireless message set, whereas the operational layer involves the vehicle controllers to realize the desired maneuvers. This hierarchical approach was the basis for the Grand Cooperative Driving Challenge (GCDC), which was held in May 2016 in The Netherlands. The GCDC provided the opportunity for participating teams to cooperatively execute a highway lane-reduction scenario and an urban intersection-crossing scenario. The GCDC was set up as a competition and, hence, also involving assessment of the teams' individual performance in a cooperative setting. As a result, the hierarchical architecture proved to be a viable approach, whereas the GCDC appeared to be an effective instrument to advance the field of cooperative automated driving.

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