TY  - JOUR
A1  - Coll-Perales, Baldomero
A1  - Schulte-Tigges, Joschua
A1  - Rondinone, Michele
A1  - Gozalvez, Javier
A1  - Reke, Michael
A1  - Matheis, Dominik
A1  - Walter, Thomas
T1  - Prototyping and evaluation of infrastructure-assisted transition of control for cooperative automated vehicles
JF  - IEEE Transactions on Intelligent Transportation Systems
N2  - Automated driving is now possible in diverse road and traffic conditions. However, there are still situations that automated vehicles cannot handle safely and efficiently. In this case, a Transition of Control (ToC) is necessary so that the driver takes control of the driving. Executing a ToC requires the driver to get full situation awareness of the driving environment. If the driver fails to get back the control in a limited time, a Minimum Risk Maneuver (MRM) is executed to bring the vehicle into a safe state (e.g., decelerating to full stop). The execution of ToCs requires some time and can cause traffic disruption and safety risks that increase if several vehicles execute ToCs/MRMs at similar times and in the same area. This study proposes to use novel C-ITS traffic management measures where the infrastructure exploits V2X communications to assist Connected and Automated Vehicles (CAVs) in the execution of ToCs. The infrastructure can suggest a spatial distribution of ToCs, and inform vehicles of the locations where they could execute a safe stop in case of MRM. This paper reports the first field operational tests that validate the feasibility and quantify the benefits of the proposed infrastructure-assisted ToC and MRM management. The paper also presents the CAV and roadside infrastructure prototypes implemented and used in the trials. The conducted field trials demonstrate that infrastructure-assisted traffic management solutions can reduce safety risks and traffic disruptions.
KW  - Automated driving
KW  - automated vehicles
KW  - connected automated vehicles
KW  - CAV
KW  - experimental evaluation
Y1  - 2021
U6  - http://dx.doi.org/10.1109/TITS.2021.3061085
SN  - 1524-9050 (Print)
SN  - 1558-0016 (Online)
VL  - 23
IS  - 7
SP  - 6720
EP  - 6736
PB  - IEEE
ER  -