Graph-based Distributed Lane-change in Tight Multi-lane Platoons

Platooning of connected and automated vehicles (CAVs) has received extensive interest due to its potential to improve road traffic. In this context, multi-lane platoons have appear as a generalized version of the classical train-like platoon structure used since the early platoon implementations in...

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Bibliographic Details
Main Authors: Pizarro, German, Nunez, Felipe
Format: Conference Proceeding
Language:English
Subjects:
Conferences
Predictive control
Roads
Vehicle dynamics
Online Access:Request full text
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Summary:Platooning of connected and automated vehicles (CAVs) has received extensive interest due to its potential to improve road traffic. In this context, multi-lane platoons have appear as a generalized version of the classical train-like platoon structure used since the early platoon implementations in the 80s. Multi-lane platoons add structural flexibility at the price of more intricate internal dynamics, particularly with respect to internal lane changes. This work proposes a distributed scheme for lane changes inside a platoon based on a hierarchical control scheme that makes use of a graph theoretical formulation of platoon formations for reference generation and distributed model predictive control (DMPC) for vehicle command. The effectiveness of the proposed approach is tested by simulating a variety of scenarios.
ISSN:2768-0770
DOI:10.1109/CCTA48906.2021.9658681