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Distributed multilane merging for connected autonomous vehicle platooning
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DOI：10.1007/s11432-020-3107-7.png)
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In the context of coordination of connected autonomous vehicles (CAVs), the platooning operation is a promising application. The formulation of a single stream of CAVs is conducive to traffic efficiency and merging operations extend the benefits for multilane road users. However, the problem of simultaneous merging and platooning lacks comprehensive investigation. A solution is formulated in this paper through a new scheme that considers inter-vehicle safety distance constraints and distributed deployment utilizing local inter-vehicle information exchanges. A distributed consensus-based controller synthesized with a collision avoidance design is developed to direct the CAVs to maintain the velocity and spacing required to avoid inter-vehicle collisions. Furthermore, a framework fusing an agent motion model with vehicle controllers based on a dynamics model that facilitates both longitudinal and lateral controls is proposed, contributing to a cross-model planning-tracking controller. Theoretical proof of asymptotic stability of the proposed controller and its collision avoidance capability are also elaborated. The merging and platooning function was tested in a hardware-in-the-loop (HiL) experiment, demonstrating the precise tracking performance and comparable merging responses to a typical multiagent system. In comparison with trajectory-based merging algorithms, the proposed framework is able to achieve finer stepwise tracking results without centralized coordination or predefined trajectories.
Keyword:
platoon
merging
connected autonomous vehicle
multiagent system
distributed controller
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Stability and Scalability of Homogeneous Vehicular Platoon: Study on the Influence of Information Flow Topologies均匀车辆队列的稳定性和可扩展性: 信息流拓扑的影响研究
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