A cooperative driving control protocol for cooperation intelligent autonomous vehicle using VANET technology

A protocol, called cooperative driving control protocol (CDCP), is proposed for intelligent autonomous vehicles, and it defines a standard with common messages and format for autonomous vehicles. The common standard format and definitions of CDCP packet make the autonomous vehicles have a common language to achieve cooperated intelligent driving with other vehicles, increase the reaction time before other vehicles perform some driving action, and decrease the average travel time at the same speed when in a hurry. The simulation tools, including NS3 and SUMO, are used to simulate the wireless transmission and the intelligent autonomous vehicle mobility, and the experiment results present that the CDCP can increase reaction time with maximum 250 seconds and decrease the average travel time 15 seconds/km, compared with the situation without CDCP. Prospectively, the CDCP is under the negotiation to be implemented as a protocol stack in the Linux kernel to provide the basic protocol capability for the future development of autonomous vehicles in intelligent transportation system.