Samenvatting
Cooperative automated driving is a promising technology to improve road safety, fuel consumption, and traffic throughput without the need to expand the current infrastructure. To accelerate the developments in cooperative driving toward deployment in realistic traffic, the second grand cooperative driving challenge (GCDC) took place in Helmond, The Netherlands, in 2016. The aim of this implementation oriented challenge is to validate the practical feasibility and benefits of cooperative automated driving in the context of several advanced traffic scenarios, including cooperative merging on a highway and cooperative intersection crossing. Since all scenarios require road participants to cooperate, an interaction protocol was provided for each scenario. Except for this pre-defined interaction protocol, each team had full flexibility in developing the cooperative automated vehicle system. As such, one of the main difficulties of the challenge was to ensure interoperability despite the fact that each road participant might use different vehicle types and vehicle control systems that have been developed independently. In this paper, we provide an overview of the ATeam's implementation of the cooperative automated driving system for the cooperative merging on a highway and cooperative intersection crossing scenarios. This overview addresses the hardware architecture used during GCDC and, the design and integration of the required software layers. This paper also addresses practical issues that need to be taken into account when developing a cooperative automated driving system such as the limited capabilities of sensors and imperfections induced by the packet-based communication. Moreover, we present experimental results that were obtained during the challenge.
| Originele taal-2 | Engels |
|---|---|
| Pagina's (van-tot) | 1308-1321 |
| Aantal pagina's | 14 |
| Tijdschrift | IEEE Transactions on Intelligent Transportation Systems |
| Volume | 19 |
| Nummer van het tijdschrift | 4 |
| DOI's | |
| Status | Gepubliceerd - 1 apr. 2018 |
Financiering
Manuscript received December 14, 2016; revised May 9, 2017 and August 28, 2017; accepted September 2, 2017. Date of publication October 19, 2017; date of current version March 28, 2018. This work was supported in part by the NWO-TTW project Integrated design approach for safety-critical real-time automotive systems under Grant 12698 and in part by the Innovational Research Incentives Scheme through the VICI Grant Wireless control systems: A new frontier in automation from NWO (The Netherlands Organization for Scientific Research) and NWO-TTW (Dutch Technology Foundation) under Grant 11382. The Associate Editor for this paper was J. Ploeg. (Corresponding author: Victor Dolk.) V. Dolk, J. G. Devanesan, I. Badshah, A. Sudhakaran, K. Elferink, and D. Chakraborty are with the Department of Automotive Technology and Mechanical Engineering, Eindhoven University of Technology, 5612 AZ Eindhoven, The Netherlands (e-mail: [email protected]). In 2016, the second GCDC was organized by TNO, Viktoria Swedish ICT, IDIADA and Eindhoven University of Technology as part of the i-GAME project, funded by the European 7th Framework Programme [13]. The main goal of this second GCDC is to take cooperative automated driving a step further by demonstrating advantaged realistic traffic scenarios. To be more specific, the following two traffic scenarios are considered: i) Cooperative merge: In this scenario, two platoons need to merge into one platoon due to a lane closure because of roadworks. To allow a safe and efficient merge maneuver, ACKNOWLEDGEMENT The ATeam is an initiative of Eindhoven University of Technology and Fontys University of Applied Science to promote and demonstrated cooperative automated driving. The authors would like to thank TNO, NXP, Technolution, TASS, Driven, V-Tron, ACE, IDIADA and HAN University of Applied Sciences for the support. Moreover, we would like to thank Bart van Overbeeke for the photograph in Fig. 3.