A Systematic Multi-Vehicle Platooning and Platoon Merging: Strategy, Control, and Trajectory Generation

2014 ◽  
Author(s):  
Mohammad Goli ◽  
Azim Eskandarian
Keyword(s):  
Control Algorithm ◽  
Autonomous Vehicle ◽  
Trajectory Generation ◽  
Simulation Platform ◽  
Longitudinal Control ◽  
Vehicle Platooning ◽  
Vehicle Platoon ◽  
Strategy Control ◽  
Automated Highway ◽  
Merging Strategy

Problem of autonomous vehicle platooning in an automated highway setting has drawn many attentions, both in academia and industry, during last two decades. This paper studies the problem of vehicle platooning with a particular focus on merging control algorithm when one or several vehicle(s) merge(s) from the adjacent lane into the main vehicle platoon under longitudinal control. Different longitudinal controllers have been compared. A practical novel multi-vehicle merge-in strategy and an adaptive lateral trajectory generation method have been proposed. The proposed approach is then tested and verified in our newly developed simulation platform SimPlatoon.

Derivation and Evaluation of a Poincare-Bendixson Theorem Based Target Acceleration Computation Algorithm for Autonomous Driving on Inverse TTC and Time Headway Plane

2020 ◽  
Author(s):  
Hye-Won Lee ◽  
Kwang-Seok Oh ◽  
Young-Min Yoon ◽  
Kyong-Su Yi
Keyword(s):  
Real Time ◽  
Control Algorithm ◽  
Human Factor ◽  
Autonomous Vehicle ◽  
Autonomous Driving ◽  
Longitudinal Control ◽  
Time To Collision ◽  
Time Headway ◽  
Target Acceleration ◽  
Computation Algorithm

Abstract This paper describes derivation algorithm and evaluation results of a Poincare-Bendixson theorem based target acceleration computation algorithm for autonomous driving on inverse time to collision and time headway plane. Derivation of target acceleration is needed for longitudinal autonomous driving. Ellipsoidal driving area is derived for considering driver’s driving characteristic and safety in time headway-inverse time to collision (TTC) plane. And target acceleration computation algorithm has been proposed based on Poincare-Bendixson theorem. Ellipsoidal driving areas are divided main driving area and real-time driving area. Main driving area is derived based on limit of inverse TTC and time headway for takeover time and human factor, real-time driving area is derived through current driving point with ratio of main driving area. It is designed to computation the target acceleration after deriving the target direction by applying a specific angle based on the normal to the current driving point through the real-time driving area. Specific angle is arbitrary value applied acceleration limitation of actual vehicle. The performance evaluation of target acceleration computation algorithm is has been conducted in Matlab/Simulink environment. It is expected that the proposed algorithm can be used for longitudinal control algorithm for safety and personalization of autonomous vehicle.

An automatic Guidance system of an autonomous vehicle —the trajectory generation and the control algorithm

Robotica ◽  
1993 ◽  
Vol 11 (4) ◽  
pp. 309-314 ◽  
Author(s):  
S.S. Lee ◽  
J.H. Williams ◽  
P.J. Rayment
Keyword(s):  
Control Algorithm ◽  
Autonomous Vehicle ◽  
Trajectory Generation ◽  
Guidance System ◽  
Smooth Functions ◽  
Automatic Guidance ◽  
Experimental Vehicle

SUMMARYThis paper presents a trajectory generation method using smooth functions for an automatic guidance system of an autonomous vehicle with two differentially driven wheels within structured environments. A control algorithm based on an incrementally generated smooth trajectory gives a good performance when implemented on an experimental vehicle.

scholarly journals Network Topology Impact on the Identification of Dynamic Network Models with Application to Autonomous Vehicle Platooning

2020 ◽  
Vol 53 (2) ◽  
pp. 1031-1036
Author(s):  
Guilherme A. Pimentel ◽  
Rafael de Vasconcelos ◽  
Aurélio Salton ◽  
Alexandre Bazanella
Keyword(s):  
Network Topology ◽  
Autonomous Vehicle ◽  
Dynamic Network ◽  
Network Models ◽  
Dynamic Network Models ◽  
Vehicle Platooning

scholarly journals Autonomous Navigation of a Team of Unmanned Surface Vehicles for Intercepting Intruders on a Region Boundary

Sensors ◽  
2021 ◽  
Vol 21 (1) ◽  
pp. 297
Author(s):  
Ali Marzoughi ◽  
Andrey V. Savkin
Keyword(s):  
Motion Control ◽  
Autonomous Vehicles ◽  
Autonomous Navigation ◽  
Control Algorithm ◽  
Autonomous Vehicle ◽  
Sufficient Conditions ◽  
Real Life ◽  
Unmanned Surface Vehicles ◽  
Necessary And Sufficient ◽  
See Region

We study problems of intercepting single and multiple invasive intruders on a boundary of a planar region by employing a team of autonomous unmanned surface vehicles. First, the problem of intercepting a single intruder has been studied and then the proposed strategy has been applied to intercepting multiple intruders on the region boundary. Based on the proposed decentralised motion control algorithm and decision making strategy, each autonomous vehicle intercepts any intruder, which tends to leave the region by detecting the most vulnerable point of the boundary. An efficient and simple mathematical rules based control algorithm for navigating the autonomous vehicles on the boundary of the see region is developed. The proposed algorithm is computationally simple and easily implementable in real life intruder interception applications. In this paper, we obtain necessary and sufficient conditions for the existence of a real-time solution to the considered problem of intruder interception. The effectiveness of the proposed method is confirmed by computer simulations with both single and multiple intruders.

Implementation and vehicle tests of a vehicle stop-and-go cruise control system

2002 ◽  
Vol 216 (7) ◽  
pp. 537-544 ◽  
Author(s):  
K Yi ◽  
N Ryu ◽  
H J Yoon ◽  
K Huh ◽  
D Cho ◽  
...  
Keyword(s):  
Control System ◽  
Control Algorithm ◽  
Speed Control ◽  
Step Motor ◽  
Cruise Control ◽  
Longitudinal Control ◽  
Linear Quadratic Optimal Control ◽  
Millimetre Wave ◽  
Stop And Go ◽  
Wave Radar

Implementation and vehicle tests of a vehicle longitudinal control algorithm for stop-and-go cruise control have been performed. The vehicle longitudinal control scheme consists of a set-speed control algorithm, a speed control algorithm, and a distance control algorithm. A desired acceleration for the vehicle for the control of vehicle-to-vehicle relative speed and clearance has been designed using linear quadratic optimal control theory. Performance of the control algorithm has been investigated via vehicle tests. Vehicle tests have been conducted using two test vehicles. A 2000 cm3 passenger car equipped with a radar distance sensor, throttle/brake actuators and a controller has been used as a subject vehicle in the vehicle tests. A millimetre wave radar sensor has been used for distance measurement. A step motor and an electronic vacuum booster have been used for throttle/brake actuators. It has been shown that the implemented vehicle longitudinal control system can provide satisfactory performance in vehicle set-speed control and vehicle clearance control at lower speeds.

Robust Approximate Constraint-Following Control for Autonomous Vehicle Platoon Systems

2017 ◽  
Vol 20 (4) ◽  
pp. 1611-1623 ◽  
Author(s):  
Xiaomin Zhao ◽  
Y. H. Chen ◽  
Han Zhao
Keyword(s):  
Autonomous Vehicle ◽  
Vehicle Platoon
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