Cooperative driving based on inter-vehicle communications: Experimental platform and algorithm

Weihua Sheng, Qingyan Yang, Yi Guo

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

21 Scopus citations

Abstract

This paper describes our efforts in building an experimental platform to conduct research on cooperative driving in Intelligent Transportation Systems (ITS). A miniature vehicle is developed based on the COTS-BOTS robot and an overhead vision system is used to localize the vehicles. The single lane tracking control algorithm is described first. To control multiple vehicles to drive through an intersection without collision, a distributed cooperative driving algorithm is developed, which is based on velocity planning using search algorithms in the corresponding Coordination Diagram. Experimental results verify our proposed approach and we believe this platform can serve as a cost-effective testbed to study vehicle-to-vehicle communication based cooperative driving in Intelligent Transportation Systems.

Original languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages5073-5078
Number of pages6
DOIs
StatePublished - 2006
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: 9 Oct 200615 Oct 2006

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Conference

Conference2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Country/TerritoryChina
CityBeijing
Period9/10/0615/10/06

Keywords

  • Cooperative driving
  • Intelligent transportation system
  • Vehicle-to-vehicle communication

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