000261465 001__ 261465
000261465 005__ 20190619220057.0
000261465 022__ $$a1939-1390
000261465 02470 $$a000447948200006$$2isi
000261465 0247_ $$2doi$$a10.1109/MITS.2018.2867529
000261465 037__ $$aARTICLE
000261465 245__ $$aVirtual Vehicle-Based Cooperative Maneuver Planning for Connected Automated Vehicles at Single-Lane Roundabouts
000261465 260__ $$c2018$$bIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC$$aPiscataway
000261465 269__ $$a2018-12-01
000261465 336__ $$aJournal Articles
000261465 520__ $$aThis paper presents a distributed maneuver planner for connected automated vehicles (CAVs) built upon the idea of CAVs being able to explicitly share their intentions by creating virtual vehicles (Us) on the targeted traffic stream. Specifically, this work focuses on the decision-making process concerning the merging maneuver at single-lane roundabouts, for which a traffic model is exploited to assess the suitability of potential merging gaps. Au optimization-based trajectory planner is then used to generate collision-free, smooth trajectories to successfully perform the planned maneuver. The algorithm is tested in simulation and its performance is compared with a gap-acceptance-based driving policy. The results show the potential positive impact that the proposed VV-based interaction mechanism along with the traffic-model based cooperative maneuver planner could have on traffic coordination.
000261465 650__ $$aEngineering, Electrical & Electronic
000261465 650__ $$aTransportation Science & Technology
000261465 650__ $$aEngineering
000261465 650__ $$aTransportation
000261465 700__ $$g258202$$0249440$$aDebada, Ezequiel
000261465 700__ $$aGillet, Denis$$0241784$$g105245
000261465 773__ $$tIEEE Intelligent Transportation Systems Magazine$$q35-46$$j10$$k4
000261465 8560_ $$fdenis.gillet@epfl.ch
000261465 909C0 $$zMarselli, Béatrice$$0252406$$yApproved$$pREACT$$xUS09295$$mdenis.gillet@epfl.ch
000261465 909CO $$particle$$ooai:infoscience.epfl.ch:261465$$pSTI
000261465 961__ $$afantin.reichler@epfl.ch
000261465 973__ $$rREVIEWED$$sPUBLISHED$$aEPFL
000261465 980__ $$aARTICLE
000261465 980__ $$aWoS
000261465 981__ $$aoverwrite