Stop & Go a cooperative maneuver for automated vehicles based on virtual and real environment

The implementation of cooperative maneuvers between automated vehicles is a necessary for the improvement of the Advanced Driver Assistence Systems (ADAS). However, the development of these strategies in real vehicles depends on the availability of experimentals platforms, which involves high costs and a lot of testing time. In this line of thought, the present work shows a tool for the design of the Stop & Go cooperative maneuver, making use of a virtual environment for the simulation of a leading vehicle, along with an automated electric vehicle that performs the tracking within a closed circuit. For the design of the maneuver, a V2V communication system between the two platforms will be established, bearing in mind that they execute an automated driving general arhcitecture. The tracking algorithm is based on a fuzzy logic controller, dependent on the leading vehicle speed and the distance between the two vehicles. The results show the usefulness of combining the two test environments for the validation of the cooperative maneuver, reducing the cost and the time in comparison with the real test environment.