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Prototyping and evaluation of infrastructure-assisted transition of control for cooperative automated vehicles

  • 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.

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Author:Baldomero Coll-PeralesORCiD, Joschua Schulte-TiggesORCiD, Michele Rondinone, Javier GozalvezORCiD, Michael RekeORCiD, Dominik MatheisORCiD, Thomas WalterORCiD
ISSN:1524-9050 (Print)
ISSN:1558-0016 (Online)
Parent Title (English):IEEE Transactions on Intelligent Transportation Systems
Document Type:Article
Year of Completion:2022
Date of first Publication:2021/03/04
Date of the Publication (Server):2023/08/21
Tag:Automated driving; CAV; automated vehicles; connected automated vehicles; experimental evaluation
First Page:6720
Last Page:6736
Institutes:FH Aachen / Fachbereich Elektrotechnik und Informationstechnik
FH Aachen / MASKOR Institut für Mobile Autonome Systeme und Kognitive Robotik
collections:Verlag / IEEE