Heterogeneous Infrastructure for Cooperative Driving of Automated and Non-automated Connected Vehicles

Automated driving is an active topic of research, while first results have already found their way into productive use. Nonetheless, nearly all of today's vehicles are still non-automated. Most modern vehicles, however, are equipped with communication capabilities. Hence, combining these two developments and enabling sophisticated cooperative maneuvers is an important step in the development of Intelligent Transport System (ITS). In this work, we describe a heterogeneous architecture that enables connected vehicles to access ITS services both via a mobile communication system and via the road-side infrastructure. The introduced ITS is designed to realize cooperative maneuvers in mixed traffic scenarios using heterogeneous cloud infrastructure systems. This work shows the Automated Connected Vehicle (ACV) concept used and the human factors while driving an ACV as well as driving a Non-Automated Connected Vehicle (NACV) that interacts with an ACV. Furthermore, we show that the system works well in real traffic scenarios by presenting insights of demonstrations.