Automated Platoon Manipulation in Merging Scenarios Using Trajectory Estimation of Connected Vehicles
Technical Report,01 Jan 2019,30 Apr 2019
U.S. Army Combat Capabilities Development Command CCDC GVSC (FORMERLY TARDEC) WARREN United States
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A method of integrating non-automated vehicles into a platoon of Cooperative Adaptive Cruise Control CACC Class 8 Heavy Duty Trucks was developed and tested at the National Center for Asphalt Technology NCAT test track. As CACC platooning becomes more commonplace, the interaction between automated and non-automated vehicles increases. This work explores this interaction during a highway merging scenario. Merging of vehicles occurs when a vehicle enters the highway system where an automated platoon is operating at that time. This scenario is handled by predicting the trajectories of the automated platoon and the non-automated vehicle entering the highway. Based on these trajectories, the automated platoon decides to create a gap for the merging vehicle if necessary. In this work, the non-automated vehicle is assumed to be a passive, connected vehicle, i.e. the platoon has knowledge of the merging vehicles position and velocity. The merging scenarios are handled by a CACC platooning system with Dedicated Short Range Communication DSRC for Vehicle to Vehicle V2V communication. This algorithm was implemented as an addition to Auburn Universitys CACC system and was able to successfully complete automated merging scenarios. The merging scenarios in the front, middle, and back of the platoon were completed at the NCAT test track.
- Surface Transportation and Equipment