Design of a Cooperative Lane Change Protocol for a Connected and Automated Vehicle Based on an Estimation of the Communication Delay
- PMID: 30336576
- PMCID: PMC6210528
- 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
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.
Conflict of interest statement
The authors declare that there are no conflicts of interest regarding the publication of this paper.
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