Journal ArticleDOI
Collision Avoidance for Vehicle-Following Systems
Stefan Gehrig,F.J. Stein +1 more
TLDR
A planning and decision component to generalize vehicle following to situations with nonautomated interfering vehicles in mixed traffic by treating the path of the leader vehicle as an elastic band that is subjected to repelling forces of obstacles in the surroundings.Abstract:
The vehicle-following concept has been widely used in several intelligent-vehicle applications. Adaptive cruise control systems, platooning systems, and systems for stop-and-go traffic employ this concept: The ego vehicle follows a leader vehicle at a certain distance. The vehicle-following concept comes to its limitations when obstacles interfere with the path between the ego vehicle and the leader vehicle. We call such situations dynamic driving situations. This paper introduces a planning and decision component to generalize vehicle following to situations with nonautomated interfering vehicles in mixed traffic. As a demonstrator, we employ a car that is able to navigate autonomously through regular traffic that is longitudinally and laterally guided by actuators controlled by a computer. This paper focuses on and limits itself to lateral control for collision avoidance. Previously, this autonomous-driving capability was purely based on the vehicle-following concept using vision. The path of the leader vehicle was tracked. To extend this capability to dynamic driving situations, a dynamic path-planning component is introduced. Several driving situations are identified that necessitate responses to more than the leader vehicle. We borrow an idea from robotics to solve the problem. Treat the path of the leader vehicle as an elastic band that is subjected to repelling forces of obstacles in the surroundings. This elastic-band framework offers the necessary features to cover dynamic driving situations. Simulation results show the power of this approach. Real-world results obtained with our demonstrator validate the simulation resultsread more
Citations
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Journal ArticleDOI
A Review of Motion Planning for Highway Autonomous Driving
TL;DR: The main algorithms in motion planning, their features, and their applications to highway driving are reviewed, along with current and future challenges and open issues.
Journal ArticleDOI
Cooperative data scheduling in hybrid vehicular ad hoc networks: VANET as a software defined network
TL;DR: The proposed model and solution represent the first known vehicular ad hoc network (VANET) implementation of software defined network (SDN) concept and prove that CDS is NP-hard by constructing a polynomial-time reduction from the Maximum Weighted Independent Set (MWIS) problem.
Journal ArticleDOI
Controller for Urban Intersections Based on Wireless Communications and Fuzzy Logic
TL;DR: The use of vehicle-to-vehicle (V2V) communications to determine the position and speed of the vehicles in an environment around a crossroad and how this affects traffic jams is described.
Journal ArticleDOI
Cascade Architecture for Lateral Control in Autonomous Vehicles
TL;DR: A new cascade control architecture based on fuzzy logic controllers that emulate a human driver's behavior is presented, showing the use of a straightforward and intuitive fuzzy controller to give good performance.
Proceedings ArticleDOI
Vehicle Platooning: A Brief Survey and Categorization
Pooja Kavathekar,YangQuan Chen +1 more
TL;DR: In this article, a general introduction and overview of vehicle platooning and a technical description of the methodology are presented, along with recent trends in Vehicle Platooning are presented and discussed.
References
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Motion Planning in Dynamic Environments Using Velocity Obstacles
Paolo Fiorini,Zvi Shiller +1 more
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P. Fiorini,Z. Shiller +1 more
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