"Decentralized Platoon Management and Cooperative Cruise Control of Autonomous Cars with Manoeuvre Coordination Message"
Authors: Reza Dariani, Giovanni Lucente, Julian Schindler
Conference: Proceedings of the 8th International Conference on Vehicle Technology and Intelligent Transport Systems VEHITS - Volume 1, 2022
Recent development of Vehicle-to-Vehicle (V2V) technologies enables the vehicles to communicate with each other and coordinate their manoeuvres. With such technologies an Advanced Driving Assistance System (ADAS) such as Adaptive Cruise Control (ACC) can be pushed to another level in conditional and highly automated vehicles, i.e. a network of cooperative connected vehicles in the form of Cooperative ACC (CACC) or even a platoon. In this paper, based on V2V communication between automated vehicles by using Manoeuvre Coordination Message (MCM), a decentralized platoon management is designed and implemented to manage the platooning state of each vehicle and when the vehicles are in a platoon or joining one, a cruise controller is designed and implemented to guarantee the desired headway to a preceding vehicle.
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