Experimental testbed and distributed algorithm for cooperative driving in VII simulation

Author

Sheng, Weihua ; Yan, Qing ; Guo, Yang Yi

Author_Institution

Sch. of Electr. & Comput. Eng., Oklahoma State Univ., Stillwater, OK

fYear

2006

fDate

17-20 Sept. 2006

Firstpage

1627

Lastpage

1632

Abstract

This paper presents an experimental testbed to conduct research on vehicle infrastructure integration (VII) in intelligent transportation systems (ITS). A miniature robotic vehicle is developed and an overhead vision system is used to localize the vehicles. We first study the single lane tracking control algorithm. Then a distributed cooperative driving algorithm is developed to control multiple vehicles to drive through an intersection without collision. This platform can serve as a cost-effective testbed to study vehicle-to-vehicle communication based cooperative driving in intelligent transportation systems

Keywords

distributed algorithms; knowledge based systems; robot vision; traffic engineering computing; transportation; vehicles; VII simulation; distributed cooperative driving algorithm; intelligent transportation systems; miniature robotic vehicle; multiple vehicle control; overhead vision system; single lane tracking control; vehicle infrastructure integration; vehicle-to-vehicle communication; Communication system control; Distributed algorithms; Drives; Intelligent robots; Intelligent transportation systems; Intelligent vehicles; Machine vision; Robot vision systems; System testing; Vehicle driving;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Transportation Systems Conference, 2006. ITSC '06. IEEE

Conference_Location

Toronto, Ont.

Print_ISBN

1-4244-0093-7

Electronic_ISBN

1-4244-0094-5

Type

conf

DOI

10.1109/ITSC.2006.1707457

Filename

1707457