This paper describes the technologies of the platooning formation control with inter-vehicle communications for the cooperative driving during the Demo 2000. The cooperative driving here means that the autonomous vehicles take such formations as platooning including lane changing, merging, and leaving the platoon for compatibility of safety and efficiency of road traffic in the automated driving system. The inter-vehicle communications is based on DSRC of 5.8GHz and using DOLPHIN (Dedicated Omni-purpose inter-vehicle communication Linkage Protocol for Highway automation). The platooning formation control is based on longitudinal control to keep the safe headway and safe lateral distance. The lateral control is based on the target point following algorithm with the map and the preceding vehicle position. Demo 2000 on intervehicle communications and platooning formation control on a test track with 5 automated vehicles was conducted to show the feasibility of the technologies.
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