Cooperative automated maneuvering at the 2016 Grand Cooperative Driving Challenge

J. Ploeg, E. Semsar-Kazerooni, A.I. Morales Medina, J.F.C.M. de Jongh, J. van de Sluis, A. Voronov, C. Englund, R.J. Bril, H. Salunkhe, A. Arrue, A. Ruano, L. Garcia-Sol, E. van Nunen, N. van de Wouw

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20 Citations (Scopus)
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Cooperative adaptive cruise control and platooning are well-known applications in the field of cooperative automated driving. However, extension towards maneuvering is desired to accommodate common highway maneuvers, such as merging, and to enable urban applications. To this end, a layered control architecture is adopted. In this architecture, the tactical layer hosts the interaction protocols, describing the wireless information exchange to initiate the vehicle maneuvers, supported by a novel wireless message set, whereas the operational layer involves the vehicle controllers to realize the desired maneuvers. This hierarchical approach was the basis for the Grand Cooperative Driving Challenge (GCDC), which was held in May 2016 in The Netherlands. The GCDC provided the opportunity for participating teams to cooperatively execute a highway lane-reduction scenario and an urban intersection-crossing scenario. The GCDC was set up as a competition and, hence, also involving assessment of the teams' individual performance in a cooperative setting. As a result, the hierarchical architecture proved to be a viable approach, whereas the GCDC appeared to be an effective instrument to advance the field of cooperative automated driving.
Original languageEnglish
Pages (from-to)1213-1226
Number of pages14
JournalIEEE Transactions on Intelligent Transportation Systems
Issue number4
Publication statusPublished - Apr 2018


  • Automation
  • controller design
  • Cooperative driving
  • interaction protocol
  • Merging
  • Protocols
  • Road transportation
  • Safety
  • Trajectory
  • vehicle platoons
  • Wireless communication
  • wireless communications.
  • wireless communications


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