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Experimental validation of connected automated vehicle design among human-driven vehicles |
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| Affiliation: | 1. Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48109, USA;2. Department of Computing and Mathematical Sciences, California Institute of Technology, Pasadena, CA 91125, USA;1. Department of Mechanical Engineering, Clemson University, Clemson, SC 29634-0921, USA;2. Technology, Computer Science, and Applied Mathematics Div. IFP Energies Nouvelles, Rueil-Malmaison, France;1. Department of Civil and Environmental Engineering, University of Illinois at Urbana-Champaign, 205 N. Mathews Ave, Urbana, IL 61801, USA;2. Department of Mathematics, Temple University, 1805 North Broad Street, Philadelphia, PA 19122, USA;3. Inria, University Grenoble Alpes, CNRS, GIPSA-lab, F-38000 Grenoble, France;4. Electrical and Computer Engineering, University of Arizona, Tucson, AZ 85721-0104, USA;5. Lipscomb University, 1 University Park Drive, Nashville, TN 37204, USA;6. Yale University, New Haven, CT 06520, USA;7. Pennsylvania State University, University Park, PA 16801, USA;8. Department of Mathematical Sciences, Rutgers University – Camden, 311 N. 5th St, Camden, NJ 08102, USA;9. Department of Civil and Environmental Engineering, Vanderbilt University, 1025 16th Ave. S., Nashville, TN 37212, USA |
| Abstract: | In this paper, we present results regarding the experimental validation of connected automated vehicle design. In order for a connected automated vehicle to integrate well with human-dominated traffic, we propose a class of connected cruise control algorithms with feedback structure originated from human driving behavior. We test the connected cruise controllers using real vehicles under several driving scenarios while utilizing beyond-line-of-sight motion information obtained from neighboring human-driven vehicles via vehicle-to-everything (V2X) communication. We experimentally show that the design is robust against variations in human behavior as well as changes in the topology of the communication network. We demonstrate that both safety and energy efficiency can be significantly improved for the connected automated vehicle as well as for the neighboring human-driven vehicles and that the connected automated vehicle may bring additional societal benefits by mitigating traffic waves. |
| Keywords: | Connected automated vehicle Connected cruise control Vehicle-to-everything (V2X) communication Beyond-line-of-sight information Human car-following behavior Traffic safety and efficiency |
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