Cooperative Driving of Automated Vehicles using B-splines for Trajectory Planning

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Cooperative Driving of Automated Vehicles using B-splines for Trajectory Planning

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van Hoek, Robbin / Ploeg, Jeroen / Nijmeijer, Henk

Vehicle automation is used to increase traffic throughput and road safety. Automated vehicles should be highly versatile to navigate on both highways and urban roads. To do so, fully automated autonomous vehicles often adopt motion planners to ensure collision-free and comfortable trajectories. In contrast, in cooperative driving, feedback control is often used to achieve string-stable vehicle-following at very short intervehicle distances. In this work, the gap between cooperative vehicle following and trajectory planning is bridged, by using a trajectory planner to generate cooperative trajectories, such that the versatility of an autonomous vehicle is retained, but cooperation is included. The presented method uses B-splines to generate cooperative trajectories. Simulations are used to demonstrate that even under large communication delays, string stable behaviour can be achieved. The use of parametrized trajectories in the form of B-splines ensures only a small number of parameters needs to be communicated between vehicles.

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Title :

Cooperative Driving of Automated Vehicles using B-splines for Trajectory Planning

Contributors:

van Hoek, Robbin (author) / Ploeg, Jeroen (author) / Nijmeijer, Henk (author)

Publication date :

2021-09-01

Remarks:

van Hoek , R , Ploeg , J & Nijmeijer , H 2021 , ' Cooperative Driving of Automated Vehicles using B-splines for Trajectory Planning ' , IEEE Transactions on Intelligent Vehicles , vol. 6 , no. 3 , pp. 594-604 . https://doi.org/10.1109/TIV.2021.3072679

DOI :

https://doi.org/10.1109/TIV.2021.3072679

Type of media :

Article (Journal)

Type of material :

Electronic Resource

Language :

English

Keywords :

Automated vehicle , Autonomous vehicles , Bsplines , Connected vehicles , Cooperative driving , Motion planning , Planning , Power system stability , Roads , Splines (mathematics) , String stability , Trajectory , Trajectory Planning