Motion planning for automated connected vehicles

Automated vehicles are used to improve traffic throughput and increase safety on roads. These automated vehicles should navigate both on highways and urban roads, and adopt motion planners to ensure collision free and comfortable trajectories. This work extends a general planning framework for an autonomous vehicle with the communication aspect of cooperative vehicles, to improve the behavior of a string of automated vehicles. By including vehicle to vehicle communication, the autonomous vehicle is better suited for vehicle following with small inter-vehicle gaps. Considerations regarding the behavior of the multi-vehicle platoon are presented, supported with numerical simulations