Cooperative Driving of Automated Vehicles Using B-Splines for Trajectory Planning

Vehicle automation is used to increase traffic throughput and road safety. Automated vehicles should be highly versatile navigate on both highways urban roads. To do so, fully automated autonomous often adopt motion planners ensure collision-free comfortable trajectories. In contrast, in cooperative driving, feedback control achieve string-stable vehicle-following at very short inter-vehicle distances. this work, the gap between vehicle following trajectory planning bridged, by using a planner generate trajectories, such that versatility of an retained, but cooperation included. The presented method uses B-splines Simulations are demonstrate even under large communication delays, string stable behaviour can achieved. use parametrized trajectories form ensures only small number parameters needs communicated vehicles.