Citation

An H, Jung JI. Sensors (Basel) 2018; 18(10): s18103499.

Affiliation

Department of Electronics and Computer Engineering, Hanyang University, Seoul 133-791, Korea. jijung@hanyang.ac.kr.

Copyright

(Copyright © 2018, MDPI: Multidisciplinary Digital Publishing Institute)

DOI

10.3390/s18103499

PMID

30336576

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.

Language: en

Keywords

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