TY - GEN
T1 - Cooperative driving based on inter-vehicle communications
T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
AU - Sheng, Weihua
AU - Yang, Qingyan
AU - Guo, Yi
PY - 2006
Y1 - 2006
N2 - 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.
AB - 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.
KW - Cooperative driving
KW - Intelligent transportation system
KW - Vehicle-to-vehicle communication
UR - http://www.scopus.com/inward/record.url?scp=34250642000&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=34250642000&partnerID=8YFLogxK
U2 - 10.1109/IROS.2006.282595
DO - 10.1109/IROS.2006.282595
M3 - Conference contribution
AN - SCOPUS:34250642000
SN - 142440259X
SN - 9781424402595
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 5073
EP - 5078
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Y2 - 9 October 2006 through 15 October 2006
ER -