Multi-objective platoon maneuvering using artificial potential fields
article
Nowadays, there is an increasing societal demand for smart mobility solutions which can increase the throughput, comfort, and safety of driving on a road. As one of these solutions, vehicle following technologies like cooperative adaptive cruise control (CACC) are introduced. with the help of vehicle-to-vehicle (V2V) communication, CACC can reduce the safe minimal inter-vehicular distance. Additionally, sharing the vehicle intentions through V2V, enables multi-vehicle maneuvers to be cooperatively executable. In this paper, using the concept of artificial potential fields, a longitudinal control scheme for performing a cooperative merging maneuver will be suggested. Artificial potential fields are powerful enough for modeling and solving such a complex problem, where in addition to vehicle following other objectives such as merging should be addressed. The designed algorithms for vehicle cooperative maneuvering are verified through simulations.
Topics
Adaptive cruise controlBinary alloysLongitudinal controlManeuverabilityMergingMotion planningArtificial potential fieldsComplex problemsCooperative adaptive cruise controlMobility solutionsMulti objectiveMulti-vehiclesVehicle followingVehicle to vehicle (V2V) communicationVehicle to vehicle communications
TNO Identifier
788273
ISSN
24058963
Source
IFAC-PapersOnLine, 50(1), pp. 15006-15011.
Publisher
Elsevier B.V.
Pages
15006-15011
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