Literature Database Entry


Martin Strunz, Julian Heinovski and Falko Dressler, "CoOP: V2V-based Cooperative Overtaking for Platoons on Freeways," Proceedings of 24th IEEE International Conference on Intelligent Transportation Systems (ITSC 2021), Indianapolis, IN, September 2021, pp. 1090–1097.


Platooning can improve road traffic safety, optimize traffic flows, and improve the driver’s comfort. In order to enable platooning, V2V-concepts for platoon control, management, and safety have been developed. Cooperative maneuvers, such as overtaking for entire platoons, remain an open research problem. Such overtaking becomes necessary when we consider mixed traffic or platoons driving at different target speeds. In this paper, we propose CoOP, a V2V-based cooperative overtaking algorithm for platoons on freeways. Our CoOP concept enables safe overtaking maneuvers for entire platoons, i.e., without the need to disassemble and reassemble the platoon for the overtaking task. CoOP makes use of V2V communication – but does not limit itself to a specific technology. We validated safety and robustness of CoOP in a wide variety of simulated traffic scenarios. Our performance evaluation shows that CoOP performs well, even compared to the theoretic optimum of artificial platooning, although CoOP only relies on local information collected via direct V2V communication.

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Martin Strunz
Julian Heinovski
Falko Dressler

BibTeX reference

    author = {Strunz, Martin and Heinovski, Julian and Dressler, Falko},
    doi = {10.1109/ITSC48978.2021.9565122},
    title = {{CoOP: V2V-based Cooperative Overtaking for Platoons on Freeways}},
    pages = {1090--1097},
    publisher = {IEEE},
    isbn = {978-1-7281-9142-3},
    address = {Indianapolis, IN},
    booktitle = {24th IEEE International Conference on Intelligent Transportation Systems (ITSC 2021)},
    month = {9},
    year = {2021},

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Last modified: 2024-07-12