Experimental Demonstration of Platoon Formation Using a Cooperative Merging Controller
Road safety and traffic congestion are amongst the main challenges in current transportation systems. Literature shows that these challenges can be tackled using cooperative platoons, which is a technique in which vehicles use communication to drive closely behind each other in a string. An importan...
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| Format: | Article |
| Language: | English |
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IEEE
2025-01-01
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| Series: | IEEE Open Journal of Intelligent Transportation Systems |
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| Online Access: | https://ieeexplore.ieee.org/document/10891586/ |
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| _version_ | 1850027779696885760 |
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| author | Wouter Scholte Tom van der Sande Peter Zegelaar Henk Nijmeijer |
| author_facet | Wouter Scholte Tom van der Sande Peter Zegelaar Henk Nijmeijer |
| author_sort | Wouter Scholte |
| collection | DOAJ |
| description | Road safety and traffic congestion are amongst the main challenges in current transportation systems. Literature shows that these challenges can be tackled using cooperative platoons, which is a technique in which vehicles use communication to drive closely behind each other in a string. An important topic of research regarding cooperative platoons is merging vehicles into a platoon at highway on-ramps. In previous work, the authors proposed a control strategy for the merging of a single cooperative automated vehicle into a platoon of vehicles at highway on-ramps. In this paper, the performance of this controller is demonstrated using experiments with two full-scale vehicles. During these experiments a two-vehicle platoon is formed in a limited distance. Several scenarios with different trajectories of the preceding vehicle are investigated. The preceding vehicle can be accelerating or decelerating simulating disturbances encountered in a larger platoon. In all experiments, the maneuver is successfully executed. The results of these experiments show the large potential of the proposed merging controller. |
| format | Article |
| id | doaj-art-5a93c3c97fdc44578e6fb5bb5fabdbc6 |
| institution | DOAJ |
| issn | 2687-7813 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Open Journal of Intelligent Transportation Systems |
| spelling | doaj-art-5a93c3c97fdc44578e6fb5bb5fabdbc62025-08-20T03:00:02ZengIEEEIEEE Open Journal of Intelligent Transportation Systems2687-78132025-01-01613114310.1109/OJITS.2025.354219310891586Experimental Demonstration of Platoon Formation Using a Cooperative Merging ControllerWouter Scholte0https://orcid.org/0000-0003-4906-9853Tom van der Sande1https://orcid.org/0000-0001-8400-8058Peter Zegelaar2https://orcid.org/0009-0009-5759-3816Henk Nijmeijer3https://orcid.org/0000-0001-5883-6191Mechanical Engineering Department, Eindhoven University of Technology, Eindhoven, The NetherlandsResearch and Advanced Engineering Europe, Ford Motor Company, Aachen, GermanyMechanical Engineering Department, Eindhoven University of Technology, Eindhoven, The NetherlandsMechanical Engineering Department, Eindhoven University of Technology, Eindhoven, The NetherlandsRoad safety and traffic congestion are amongst the main challenges in current transportation systems. Literature shows that these challenges can be tackled using cooperative platoons, which is a technique in which vehicles use communication to drive closely behind each other in a string. An important topic of research regarding cooperative platoons is merging vehicles into a platoon at highway on-ramps. In previous work, the authors proposed a control strategy for the merging of a single cooperative automated vehicle into a platoon of vehicles at highway on-ramps. In this paper, the performance of this controller is demonstrated using experiments with two full-scale vehicles. During these experiments a two-vehicle platoon is formed in a limited distance. Several scenarios with different trajectories of the preceding vehicle are investigated. The preceding vehicle can be accelerating or decelerating simulating disturbances encountered in a larger platoon. In all experiments, the maneuver is successfully executed. The results of these experiments show the large potential of the proposed merging controller.https://ieeexplore.ieee.org/document/10891586/Connected and automated vehicleson-ramp mergingexperimental validationvehicle-to-vehicle (V2V) communicationautonomous vehicles |
| spellingShingle | Wouter Scholte Tom van der Sande Peter Zegelaar Henk Nijmeijer Experimental Demonstration of Platoon Formation Using a Cooperative Merging Controller IEEE Open Journal of Intelligent Transportation Systems Connected and automated vehicles on-ramp merging experimental validation vehicle-to-vehicle (V2V) communication autonomous vehicles |
| title | Experimental Demonstration of Platoon Formation Using a Cooperative Merging Controller |
| title_full | Experimental Demonstration of Platoon Formation Using a Cooperative Merging Controller |
| title_fullStr | Experimental Demonstration of Platoon Formation Using a Cooperative Merging Controller |
| title_full_unstemmed | Experimental Demonstration of Platoon Formation Using a Cooperative Merging Controller |
| title_short | Experimental Demonstration of Platoon Formation Using a Cooperative Merging Controller |
| title_sort | experimental demonstration of platoon formation using a cooperative merging controller |
| topic | Connected and automated vehicles on-ramp merging experimental validation vehicle-to-vehicle (V2V) communication autonomous vehicles |
| url | https://ieeexplore.ieee.org/document/10891586/ |
| work_keys_str_mv | AT wouterscholte experimentaldemonstrationofplatoonformationusingacooperativemergingcontroller AT tomvandersande experimentaldemonstrationofplatoonformationusingacooperativemergingcontroller AT peterzegelaar experimentaldemonstrationofplatoonformationusingacooperativemergingcontroller AT henknijmeijer experimentaldemonstrationofplatoonformationusingacooperativemergingcontroller |