Leader-Based Trajectory Following in Unstructured Environments-From Concept to Real-World Implementation

Article Computer Science, Information Systems

State Estimation for Cooperative Lateral Vehicle Following Using Vehicle-to-Vehicle Communication

Wouter Schinkel et al.

Summary: A cooperative state estimation framework for automated vehicle applications is presented, which demonstrates the benefits of using vehicle-to-vehicle communication for accurate and stable vehicle following behavior. The state estimator, incorporating cascaded Kalman filtering process and considering operating frequencies of different sensors, provides a state estimate at every sample point in driving scenarios. Simulation results show the advantages of using vehicle-to-vehicle communication in reducing measurement noise and improving cooperative control schemes.

ELECTRONICS (2021)

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Article Computer Science, Information Systems

A Generic Interface Enabling Combinations of State-of-the-Art Path Planning and Tracking Algorithms

Johannes Rumetshofer et al.

Summary: In the development of Level 4 automated driving functions, combining advanced software components as building blocks in modular architectures can accelerate the process. However, limitations still exist in the combination of components in local motion planning and control due to interface alignments. The application of generic interfaces has the potential to avoid these drawbacks and further boost development.

ELECTRONICS (2021)

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Proceedings Paper Computer Science, Artificial Intelligence

Event-Triggered Vehicle-Following Control for Connected and Automated Vehicles under Nonideal Vehicle-to-Vehicle Communications

Jizheng Liu et al.

Summary: This paper proposes an event-triggered vehicle-following control scheme for connected and automated vehicles (CAVs) considering nonideal Vehicle-to-Vehicle communications, achieving computational reduction through an event-triggered mechanism and Model Predictive Control, and applicable for vehicle platoon control.

2021 32ND IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV) (2021)

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Article Automation & Control Systems