Design of a Cooperative Lane Change Protocol for a Connected and Automated Vehicle Based on an Estimation of the Communication Delay - PubMed Skip to main page content
U.S. flag

An official website of the United States government

Dot gov

The .gov means it’s official.
Federal government websites often end in .gov or .mil. Before sharing sensitive information, make sure you’re on a federal government site.

Https

The site is secure.
The https:// ensures that you are connecting to the official website and that any information you provide is encrypted and transmitted securely.

Access keys NCBI Homepage MyNCBI Homepage Main Content Main Navigation
. 2018 Oct 17;18(10):3499.
doi: 10.3390/s18103499.

Design of a Cooperative Lane Change Protocol for a Connected and Automated Vehicle Based on an Estimation of the Communication Delay

Affiliations

Design of a Cooperative Lane Change Protocol for a Connected and Automated Vehicle Based on an Estimation of the Communication Delay

Hongil An et al. Sensors (Basel). .

Abstract

Connected and automated vehicles (CAVs) have recently attracted a great deal of attention. Various studies have been conducted to improve vehicle and traffic safety through vehicle to vehicle (V2V) communication. In the field of CAVs, lane change research is considered a very challenging subject. This paper presents a cooperative lane change protocol, considering the impact of V2V communication delay. When creating a path for a lane change in the local path planning module, V2V communication delay occurs. Each vehicle was represented, in our study, by an oriented bounding box (OBB) to determine the risk of collision. We set up a highway driving simulation environment and verified the improved protocol by implementing a longitudinal and lateral controller.

Keywords: V2V communication sensor; collision detection; connected and automated vehicle (CAV); lane change; path planning.

PubMed Disclaimer

Conflict of interest statement

The authors declare that there are no conflicts of interest regarding the publication of this paper.

Figures

Figure 1
Figure 1
Architecture for a connected and autonomous vehicle (CAV).
Figure 2
Figure 2
Vehicle representation through an oriented bounding box (OBB) model.
Figure 3
Figure 3
Construction of the expected lane change trajectory.
Figure 4
Figure 4
Definition of the lane change request message.
Figure 5
Figure 5
Screenshot of the road scenario.
Figure 6
Figure 6
Time sequence diagram of the lane change protocol in the preparation section.
Figure 7
Figure 7
Real positions and expected positions of the host CAV in the lane change.

Similar articles

Cited by

References

    1. Khodayari A., Ghaffari A., Ameli S., Flahatgar J. A historical review on lateral and longitudinal control of autonomous vehicle motions; Proceedings of the 2010 International Conference on Mechanical and Electrical Technology (ICMET); Singapore. 10–12 September 2010; pp. 421–429.
    1. Bevly D., Cao X., Gordon M., Ozbilgin G., Kari D., Nelson B., Woodruff J., Barth M., Murray C., Kurt A., et al. Lane change and merge maneuvers for connected and automated vehicles: A survey. IEEE Trans. Intell. Veh. 2016;1:105–120. doi: 10.1109/TIV.2015.2503342. - DOI
    1. Choi J., Va V., Gonzalez-Prelcic N., Daniels R., Bhat C.R., Heath R.W. Millimeter-wave vehicular communication to support massive automotive sensing. IEEE Commun. Mag. 2016;54:160–167. doi: 10.1109/MCOM.2016.1600071CM. - DOI
    1. Hobert L., Festag A., Llatser I., Altomare L., Visintainer F., Kovacs A. Enhancements of V2X communication in support of cooperative autonomous driving. IEEE Commun. Mag. 2015;53:67–70. doi: 10.1109/MCOM.2015.7355568. - DOI
    1. Schlechtriemen J., Wedel A., Hillenbrand J., Breuel G., Kuhnert K.D. A lane change detection approach using feature ranking with maximized predictive power; Proceedings of the 2014 IEEE Intelligent Vehicles Symposium Proceedings; Dearborn, MI, USA. 8–11 June 2014; pp. 108–114.

LinkOut - more resources