In the context of automated highway systems (AHS), this work proposes an approach that enables a vehicle to autonomously join platoon with optimized trajectory in presence dynamical traffic obstacles. A notable aspect is use Model Predictive Control (MPC) optimization planned path, conjunction variant Rapidly-exploring Random Trees (RRT*) algorithm for purpose formation. This combination effici...

The AVHS architecture of the California PATH program organizes traffic into platoons of closely spaced vehicles. Platoons are formed and broken up by two longitudinal control maneuvers, merge and split. A third longitudinal maneuver, decelerate to change lanes, allows a platoon switching from one lane to another to enter its new lane at a safe spacing and speed. This paper presents a robust con...

topology analysis of the join phase of the merge protocol Peter Backes and Jan Reineke 1 Universität des Saarlandes, Saarbrücken, Germany [email protected] 2 University of California, Berkeley [email protected] Abstract. We present a partial solution to the TTC2010 topology analysis case study. We pick a small part of the merge protocol, namely the part where cars join a leader to form a...

A dynamic feedback system is developed for estimating the headway and velocity in a longitudinal three-vehicle platoon. The estimation system is modeled using a particle filter (PF) and an unscented Kalman filter (UKF) that estimate them by measuring the acceleration rate and/or velocity of probe vehicle(s) in the platoon. State equations are defined as a discrete conservation equation of headw...

This paper investigates the implementation of a wireless mobile ad-hoc network to guarantee that an autonomous agent, i.e., an autonomously driven mobile vehicle or a human, remains connected to a fixed base station while performing its own mission. To the purpose, the use of a platoon of mobile robots is proposed to carry a number of repeater antennas; these are suitably moved to dynamically e...

With the rapid development of information and communication technology, future intelligent transportation systems will exhibit a trend cooperative driving connected vehicles. Platooning is an important application technique for driving. Herein, optimized car-following models platoon control based on intervehicle technology are proposed. On basis existing indicators, series evaluation methods sa...

This paper presents a methodology for the verification of reactive multi-agent systems (RMAS). High level of confidence about a safe operation is a mandatory in many reactive applications. Model-checking appear as an adequate tool for the verification of safety properties. However, model-checking can be confronted with the problem of intractable state space sizes. To avoid this kind of limitati...

In this paper, we introduce the problem of mining frequent sub-routes for the use of platoon driving. The problem is related to the problem of mining frequent sequences. While the problem of mining frequent sequences normally focuses on patterns with a large support, the problem of mining frequent sub-routes has to deal with a small absolute support of two or more. We will present our algorithm...