Title :
Cooperative driving: Beyond V2V as an ADAS sensor
Author :
Caveney, Derek ; Dunbar, William B.
Author_Institution :
Toyota Tech. Center, Toyota Motor Eng. & Manuf. North America, Ann Arbor, MI, USA
Abstract :
Vehicle-to-Vehicle (V2V) communication systems utilize wireless communications for shared sensing between vehicles. This paper discusses how V2V systems could be utilized, beyond shared sensing, for shared decision making between cooperative vehicles. We propose distributed receding horizon control (DRHC) as an appropriate mechanism for scalable, shared decision making. Two automated driving applications, platooning and cooperative merging, illustrate the use of essential enabling technologies, including geo-spatial positions, digital road maps, collision avoidance, and path prediction, and how each is incorporated through our DRHC-centric framework. At the core of the framework is a four-task logic that allows partially-synchronous execution of local, computationally-efficient, optimization problems on board each vehicle.
Keywords :
collision avoidance; distributed control; optimisation; road vehicles; vehicular ad hoc networks; ADAS sensor; automated driving applications; collision avoidance; cooperative driving; cooperative merging; cooperative vehicles; digital road maps; distributed receding horizon control; four-task logic; geospatial positions; optimization problems; path prediction; platooning; shared decision making; shared sensing; vehicle-to-vehicle communication systems; wireless communications; Geometry; Optimization; Roads; Trajectory; Vehicle dynamics; Vehicles;
Conference_Titel :
Intelligent Vehicles Symposium (IV), 2012 IEEE
Conference_Location :
Alcala de Henares
Print_ISBN :
978-1-4673-2119-8
DOI :
10.1109/IVS.2012.6232210