TY - GEN
T1 - Fast Maneuver Planning for Cooperative Automated Vehicles
AU - Heb, Daniel
AU - Lattarulo, Ray
AU - Perez, Joshue
AU - Schindler, Julian
AU - Hesse, Tobias
AU - Koster, Frank
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/12/7
Y1 - 2018/12/7
N2 - 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.
AB - 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.
UR - https://www.scopus.com/pages/publications/85060459717
U2 - 10.1109/ITSC.2018.8569791
DO - 10.1109/ITSC.2018.8569791
M3 - Conference contribution
AN - SCOPUS:85060459717
T3 - IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC
SP - 1625
EP - 1632
BT - 2018 IEEE Intelligent Transportation Systems Conference, ITSC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 21st IEEE International Conference on Intelligent Transportation Systems, ITSC 2018
Y2 - 4 November 2018 through 7 November 2018
ER -