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Fast Maneuver Planning for Cooperative Automated Vehicles

Heß, Daniel and Lattarulo, Ray and Joshue, Pérez and Julian, Schindler and Tobias, Hesse and Frank, Köster (2018) Fast Maneuver Planning for Cooperative Automated Vehicles. 21st IEEE International Conference on Transportation Systems, 4.-7. Nov. 2018, USA. doi: 10.1109/ITSC.2018.8569791.

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A lane following and lane changing maneuver planning method for automated vehicles is investigated, which is capable of evaluating and incorporating cooperative agreements between several automated vehicles. An application level cooperation protocol is discussed, which allows vehicles to negotiate space time reservations in conflict areas via Vehicle-to-Vehicle communication. The planning method is based on decoupling of longitudinal and lateral movement directions, formulation of convex quadratic programming problems and input-output linearization for recovery of a full state reference trajectory and feed forward controls. Several different lane following and merging maneuvers can be planned in one update cycle in order to support an informed selection of the currently best driving strategy. We demonstrate and evaluate the communication protocol and the maneuver planning method on cooperative lane changing scenarios with a physical automated vehicle as well as in a real time simulation.

Item URL in elib:https://elib.dlr.de/119834/
Document Type:Conference or Workshop Item (Other)
Title:Fast Maneuver Planning for Cooperative Automated Vehicles
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Heß, DanielUNSPECIFIEDhttps://orcid.org/0000-0001-6976-4189UNSPECIFIED
Julian, SchindlerUNSPECIFIEDhttps://orcid.org/0000-0001-5398-8217UNSPECIFIED
Tobias, HesseUNSPECIFIEDhttps://orcid.org/0000-0002-2346-2035UNSPECIFIED
Date:4 November 2018
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:Cooperative Automated Driving, Motion Planning, Vehicle to Vehicle Communication, V2V, QP, STRP
Event Title:21st IEEE International Conference on Transportation Systems
Event Location:USA
Event Type:international Conference
Event Dates:4.-7. Nov. 2018
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Terrestrial Vehicles (old)
DLR - Research area:Transport
DLR - Program:V BF - Bodengebundene Fahrzeuge
DLR - Research theme (Project):V - Fahrzeugintelligenz (old)
Location: Braunschweig
Institutes and Institutions:Institute of Transportation Systems
Deposited By: Heß, Daniel
Deposited On:05 Dec 2018 08:39
Last Modified:24 Jul 2023 08:19

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