Formation and reconfiguration of tight multi-lane platoons

Advances in vehicular communication technologies are expected to facilitate cooperative driving the future. Connected and Automated Vehicles (CAVs) able collaboratively plan execute maneuvers by sharing their perceptual knowledge future plans. In this paper, an architecture for autonomous navigation of tight multi-lane platoons traveling on public roads is presented. Using proposed approach, CAVs form single or various geometrical configurations. They reshape adjust configurations according changes environment. The consists two main components: offline motion planner system online hierarchical control system. uses optimization-based approach formation reconfiguration spaces. A constrained optimization scheme used smooth, dynamically feasible collision-free trajectories all vehicles within platoon. paper addresses computation limitations employing a family precomputed stored look-up table vehicles. composed three levels: traffic operation (TOS), decision-maker, path-follower. TOS determines desired platoon reconfiguration. decision-maker checks feasibility based real-time information about surrounding traffic. maneuver executed low-level path-following feedback controller real-time. effectiveness demonstrated through simulations case studies: (1) (2) obstacle avoidance, (3) benchmarking against behavior-based planning which achieved using sequence primitives. Videos software can be found here https://github.com/RoyaFiroozi/Centralized-Planning.