Design and Experimental Validation of a Cooperative Driving Control Architecture for the Grand Cooperative Driving Challenge 2016

In this paper, we present the cooperative driving system developed by the Chalmers car team for the grand cooperative driving challenge 2016. This paper gives an overview of the system architecture and describes in detail the communication, signal processing, and decision-making sub-systems. Experimental results demonstrate the system’s performance and operation according to the rules and requirements of the competition.

[1]  Ellen van Nunen,et al.  Cooperative Competition for Future Mobility , 2012, IEEE Transactions on Intelligent Transportation Systems.

[2]  Fredrik Gustafsson,et al.  Statistical Sensor Fusion , 2013 .

[3]  W. Marsden.  I and J , 2012 .

[4]  D. Gingras,et al.  Comparison between the unscented Kalman filter and the extended Kalman filter for the position estimation module of an integrated navigation information system , 2004, IEEE Intelligent Vehicles Symposium, 2004.

[5]  Arun Shenbaga Priyan Vijayan.  Cooperative collision avoidance strategies at intersections , 2016 .

[6]  Huei Peng,et al.  Optimal Adaptive Cruise Control with Guaranteed String Stability , 1999 .

[7]  Lei Chen,et al.  Cooperative ITS — EU standards to accelerate cooperative mobility , 2014, 2014 International Conference on Connected Vehicles and Expo (ICCVE).

[8]  Gerasimos G. Rigatos,et al.  Extended Kalman and Particle Filtering for sensor fusion in motion control of mobile robots , 2010, Math. Comput. Simul..

[9]  Erik Steinmetz,et al.  Coordination of Cooperative Autonomous Vehicles: Toward safer and more efficient road transportation , 2016, IEEE Signal Processing Magazine.

[10]  Mario Zanon,et al.  Primal decomposition of the optimal coordination of vehicles at traffic intersections , 2016, 2016 IEEE 55th Conference on Decision and Control (CDC).

[11]  J. Hedrick,et al.  String stability of interconnected systems , 1995, Proceedings of 1995 American Control Conference - ACC'95.

[12]  Raja Sengupta,et al.  Kalman Filter-Based Integration of DGPS and Vehicle Sensors for Localization , 2005, IEEE Transactions on Control Systems Technology.

[13]  P ? ? ? ? ? ? ? % ? ? ? ? , 1991 .

[14]  Petr Krejci,et al.  Cooperative Control of SARTRE Automated Platoon Vehicles , 2012 .

[15]  J. J. A. Spanjaards.  Real-time camera based lane detection for autonomous driving , 2016 .

[16]  Jonas Fredriksson,et al.  A control matching model predictive control approach to string stable vehicle platooning , 2015 .

[17]  Stephan Heinrich.  Obstacle avoidance with safety guarantees - Feasibility of MPC-based obstacle avoidance algorithms , 2015 .

[18]  Henk Wymeersch,et al.  Design and Experimental Validation of a Cooperative Driving System in the Grand Cooperative Driving Challenge , 2012, IEEE Transactions on Intelligent Transportation Systems.

[19]  Jonas Fredriksson,et al.  A receding horizon approach to string stable cooperative adaptive cruise control , 2011, 2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC).

[20]  Henk Nijmeijer,et al.  Introduction to the Special Issue on the 2011 Grand Cooperative Driving Challenge , 2012 .

[21]  Markus Vincze,et al.  Multi-rate fusion with vision and inertial sensors , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[22]  Leopoldo Armesto,et al.  SLAM based on Kalman filter for multi-rate fusion of laser and encoder measurements , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[23]  Henk Wymeersch,et al.  An approximate solution to the optimal coordination problem for autonomous vehicles at intersections , 2015, 2015 American Control Conference (ACC).

[24]  Erik G. Ström,et al.  Challenges for cooperative ITS: Improving road safety through the integration of wireless communications, control, and positioning , 2015, 2015 International Conference on Computing, Networking and Communications (ICNC).

[25]  G. G. Stokes.  "J." , 1890, The New Yale Book of Quotations.

[26]  Rajesh Rajamani,et al.  Vehicle dynamics and control , 2005 .

[27]  Mario di Bernardo,et al.  Design, Analysis, and Experimental Validation of a Distributed Protocol for Platooning in the Presence of Time-Varying Heterogeneous Delays , 2016, IEEE Transactions on Control Systems Technology.