Experimental testbed and distributed algorithm for cooperative driving in VII simulation

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