Abstract
Cooperative driving is an essential component of intelligent transport systems (ITSs). It promises greater safety, reduced accidents, efficient traffic flow, and fuel consumption reduction. Vehicle platooning is a representative service model for ITS. The principal sub-systems of platooning systems for connected and automated vehicles (CAVs) are cooperative adaptive cruise control (CACC) systems and platoon management systems. Based on vehicle state information received through vehicle-to-vehicle (V2V) communication, the CACC system allows platoon vehicles to maintain a narrower safety distance. In addition, the platoon management system using V2V communications allows vehicles to perform platoon maneuvers reliably and accurately. In this paper, we propose a CACC system with a variable time headway and a decentralized platoon join-in-middle maneuver protocol with a trajectory planning system considering the V2V communication delay for CAVs. The platoon join-in-middle maneuver is a challenging research subject as the research must consider the requirement of a more precise management protocol and lateral control for platoon safety and string stability. These CACC systems and protocols are implemented on a simulator for a connected and automated vehicle system, PreScan, and we validated our approach using a realistic control system and V2V communication system provided by PreScan.
Highlights
In the research field of autonomous vehicles, cooperative driving technology using communication between vehicles has attracted considerable attention
Where tw,following vehicle (FV) is the communication delay with the FV on the neighbor table and devw,FV is the deviation of the communication delay with FV, t processing,joining vehicle (JV) is the processing time at which JV generates the entire trajectory, and t processing,FV is the time at which FV calculates the size of the gap and determines the deceleration based on the platoon information
Standstill distance and variable time headway are provided as inputs to the adaptive cruise control (ACC) system; if the inter-vehicle distance recognized through the radar is reduced below the safety distance, connected and automated vehicles (CAVs) decelerates to maintain a safe distance considering the relative speed of the preceding vehicle (PV)
Summary
In the research field of autonomous vehicles, cooperative driving technology using communication between vehicles has attracted considerable attention. Based on the exchange of vehicle state information and maneuver protocol messages through V2X communication, the platoon management system supports a platooning system safely and efficiently [5]. We designed a platooning system based on a decentralized communication topology where each member vehicle communicates directly with the PV and the following vehicle (FV). It enables member vehicles to have rapid perception and decision based on low communication delays and low packet error rate and to drive while maintaining a narrow intra-platoon distance. The proposed protocol includes (1) a direct and reliable consensus between maneuvering vehicles using a decentralized communication topology, (2) precise trajectory planning using cumulative communication delay, and (3) lane changing through lateral control.
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