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, 2018-11-04 - 2018-11-07, USA. doi: 10.1109/ITSC.2018.8569791.
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Abstract
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/ | ||||||||||||||||||||||||||||
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Document Type: | Conference or Workshop Item (Other) | ||||||||||||||||||||||||||||
Title: | Fast Maneuver Planning for Cooperative Automated Vehicles | ||||||||||||||||||||||||||||
Authors: |
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Date: | 4 November 2018 | ||||||||||||||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||||||||||||||
Open Access: | No | ||||||||||||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||||||||||||
In SCOPUS: | No | ||||||||||||||||||||||||||||
In ISI Web of Science: | No | ||||||||||||||||||||||||||||
DOI: | 10.1109/ITSC.2018.8569791 | ||||||||||||||||||||||||||||
Status: | Published | ||||||||||||||||||||||||||||
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 Start Date: | 4 November 2018 | ||||||||||||||||||||||||||||
Event End Date: | 7 November 2018 | ||||||||||||||||||||||||||||
Organizer: | IEEE | ||||||||||||||||||||||||||||
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 Apr 2024 20:24 |
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