Vehicle Control Algorithms for Cooperative Driving with Automated Vehicles and Intervehicle Communications

Shin Kato*, Sadayuki Tsugawa, Kiyohito Tokuda, Takeshi Matsui, Haruki Fujii

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

317 Citations (Scopus)


This paper describes the technologies of the cooperative driving with automated vehicles and intervehicle communications in the Demo 2000 cooperative driving. Cooperative driving, aiming at the compatibility of safety and efficiency of road traffic, means that automated vehicles drive by forming a flexible platoon over a couple of lanes with a short intervehicle distance while performing lane changing, merging, and leaving the platoon. The vehicles for the demonstration are equipped with automated lateral and longitudinal control functions with localization data by the differential global positioning system (DGPS) and the intervehicle communication function with 5.8-GHz dedicated short range communication (DSRC) designed for the dedicated use in the demonstration. In order to show the feasibility and potential of the technologies, the demonstration was held in November 2000, on a test track with five automated vehicles. The scenario included Stop&Go, platooning, merging, and obstacle avoidance.

Original languageEnglish
Pages (from-to)155-160
Number of pages6
JournalIEEE Transactions on Intelligent Transportation Systems
Issue number3
Publication statusPublished - 2002 Sept
Externally publishedYes


  • Advanced vehicle control and safety systems
  • Automated highway systems
  • Cooperative driving
  • Intervehicle communications

ASJC Scopus subject areas

  • Automotive Engineering
  • Mechanical Engineering
  • Computer Science Applications


Dive into the research topics of 'Vehicle Control Algorithms for Cooperative Driving with Automated Vehicles and Intervehicle Communications'. Together they form a unique fingerprint.

Cite this