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Negotiation of Cooperative Maneuvers for Automated Vehicles: Experimental Results

Heß, Daniel and Lattarulo, Ray and Pérez, Joshué (2019) Negotiation of Cooperative Maneuvers for Automated Vehicles: Experimental Results. In: 2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019. ITSC 2019, 2019-10-27 - 2019-10-30, Auckland, New Zealand. doi: 10.1109/ITSC.2019.8917464.

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When the number of automated vehicles deployed in public traffic reaches a significant level, their form of interaction with other automated vehicles, human controlled vehicles and non-motorized participants will impact traffic overall safety and efficiency. While many studies have approached Impact analysis on the side of efficiency and via simulation, we here elaborate on practically applicable methods for safe cooperation of automated vehicles from the perspective of life-size experimental platforms. The EU project UnCoVerCPS investigates on-line verification based safety analysis and control of cyberphysical system, applying the developed techniques to cooperation of automated vehicles. In a previous publication, a message set for negotiation of such a cooperation has been proposed, (STRP), which is compatible with the investigated verification approach. This publication follows up by providing results and analysis of test drives with two cooperating, automated vehicles with differing software and hardware architectures. The STRP messages are employed to negotiate a cooperative lane change via Car-to-Car radio in an urban scenario with non-trivial road-geometry. The applicability of the distributed cooperation scheme to real-world conditions is demonstrated.

Item URL in elib:https://elib.dlr.de/127225/
Document Type:Conference or Workshop Item (Other)
Title:Negotiation of Cooperative Maneuvers for Automated Vehicles: Experimental Results
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Heß, DanielUNSPECIFIEDhttps://orcid.org/0000-0001-6976-4189UNSPECIFIED
Journal or Publication Title:2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:Cooperative Automated Driving, V2X
Event Title:ITSC 2019
Event Location:Auckland, New Zealand
Event Type:international Conference
Event Start Date:27 October 2019
Event End Date:30 October 2019
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Road Transport
DLR - Research area:Transport
DLR - Program:V ST Straßenverkehr
DLR - Research theme (Project):V - NGC KoFiF (old)
Location: Braunschweig
Institutes and Institutions:Institute of Transportation Systems
Deposited By: Heß, Daniel
Deposited On:07 Aug 2019 08:39
Last Modified:24 Apr 2024 20:31

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