Gap closing for cooperative driving in automated vehicles using B-splines for trajectory planning

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Abstract

Recently, increasing interest has been shown in cooperative driving and platooning, as they show great potential for increasing the road throughput, by both increasing road capacity and preventing so called 'ghost' traffic jams. These cooperative vehicles make use of controllers or trajectory planners that achieve a certain spacing policy. However, these systems may result in large accelerations when the host vehicle is trying to close a gap to a preceding vehicle, leading to uncomfortable responses. In this work, a trajectory planning method is presented that is able to smoothly close a large gap, by means of a time-varying spacing policy. The resulting trajectory planner is capable of both maintaining a desired spacing as well as closing a gap comfortably to a preceding vehicle.

Original languageEnglish
Title of host publicationProceedings of the IEEE Intelligent Vehicles Symposium
PublisherInstitute of Electrical and Electronics Engineers
Pages370-375
Number of pages6
DOIs
Publication statusPublished - 8 Jan 2021
Event2020 IEEE Intelligent Vehicles Symposium (IV2020) ; Virtual event - Las Vegas, United States
Duration: 19 Oct 202013 Nov 2020

Conference

Conference2020 IEEE Intelligent Vehicles Symposium (IV2020) ; Virtual event
CountryUnited States
CityLas Vegas
Period19/10/2013/11/20

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