Cooperative maneuvring in close environments among cybercars and dual-mode cars

This paper describes the results of vehicle-to-vehicle (V2V) and infrastructure-to-vehicle (I2V) experiments implementing cooperative maneuvering for three different vehicles driving automatically. The cars used were cybercars from the Institut National de Recherche en Informatique et Automatique (INRIA), (France), which are fully automated road vehicles, and two mass-produced cars-one a Smart Fortwo car from TNO (Netherlands) equipped with additional actuators and sensors and the other a convertible Citroe¨n C3 from IAI (Spain) that uses sensorial information to manage the actuators. The cars communicate by a wireless mesh network over Wi-Fi using the optimized link state routing (OLSR) ad-hoc protocol. The entire communication task is embedded in a small MIPS Linux Box (4G System Cube) that is transparent for the cars. A standard framework was defined with the parameters needed to perform adaptive cruise control (ACC) and intersection maneuvers among the cars, as well as emergency stops via a signal sent by the infrastructure. The experiments were carried out in La Rochelle (France) during the final demonstration of the European Union (EU) Cybercars-2 Project.