Model Predictive Control for Coordination of Vehicle Platoons
نویسنده
چکیده
This paper describes the application of model predictive controllers for decentralized control and coordination of autonomous vehicle platoons. Information about the road trajectory and surrounding vehicles are used to solve a constrained nonlinear optimization problem to plan the system behavior over a finite horizon. System actuation restrictions are taken into consideration in the controller design as optimization constraints.
منابع مشابه
Traffic management for intelligent vehicle highway systems using model-based predictive control
In this paper we present an integrated traffic management and control approach for Intelligent Vehicle Highway Systems (IVHS). These IVHS consist of interacting roadside controllers and intelligent vehicles that are organized in platoons with short intraplatoon distances, and larger distances between platoons. All vehicles are assumed to be fully automated, i.e., throttle, braking, and steering...
متن کاملDesign and Control of Platoons of Cooperating Autonomous Surface Vessels
This work focuses on the development of a provable, reliable and efficient strategy for coordination of groups, or platoons, of small, autonomous surface vessels for use in maritime security operations. This work builds on successful techniques that have been developed for coordination of platoons of holonomic vehicles as well as technology that has utilized in the development of an autonomous ...
متن کاملImpact of Communication Erasure Channels on Safety of Highway Vehicle Platoons
Packet loss in block erasure channels creates a randomly switching networked system that impacts control performance significantly. This paper employs safety of highway vehicle platoons as a platform to study such an impact. By autonomous inter-vehicle coordination, a platoon can potentially enhance safety, improve highway utility, increase fuel economy, and reduce emission. By comparing differ...
متن کاملControl of vehicle platoons for highway safety and efficient utility: Consensus with communications and vehicle dynamics
Platoon formation of highway vehicles is a critical foundation for autonomous or semiautonomous vehicle control for enhanced safety, improved highway utility, increased fuel economy, and reduced emission toward intelligent transportation systems. Platoon control encounters great challenges from vehicle control, communications, team coordination, and uncertainties. This paper introduces a new me...
متن کاملFormal Verification of Autonomous Vehicle Platooning
The coordination of multiple autonomous vehicles into convoys or platoons is expected on our highways in the near future. However, before such platoons can be deployed, the new autonomous behaviours of the vehicles in these platoons must be certified. An appropriate representation for vehicle platooning is as a multiagent system in which each agent captures the “autonomous decisions” carried ou...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2015