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Distributed multilane merging for connected autonomous vehicle platooning

Science China(Information Sciences) 2021年第11期64卷 171-186页

作者： Jingkai WU Yafei WANG Zhaokun SHEN Lin WANG Haiping DU Chengliang YIN School of Mechanical Engineering Shanghai Jiao Tong University School of Electrical and Electronics Engineering Shanghai Jiao Tong University School of Electrical Computer and Telecommunications Engineering University of Wollongong

In the context of coordination of connected autonomous vehicles(CAVs), the platooning operation is a promising application. The formulation of a single stream of CAVs is conducive to traffic efficiency and merging operations extend the benefits for multilane road users. However, the problem of simultaneous merging and platooning lacks comprehensive investigation. A solution is formulated in this paper through a new scheme that considers inter-vehicle safety distance constraints and distributed deployment utilizing local inter-vehicle information exchanges. A distributed consensus-based controller synthesized with a collision avoidance design is developed to direct the CAVs to maintain the velocity and spacing required to avoid intervehicle collisions. Furthermore, a framework fusing an agent motion model with vehicle controllers based on a dynamics model that facilitates both longitudinal and lateral controls is proposed, contributing to a cross-model planning-tracking controller. Theoretical proof of asymptotic stability of the proposed controller and its collision avoidance capability are also elaborated. The merging and platooning function was tested in a hardware-in-the-loop(Hi L) experiment, demonstrating the precise tracking performance and comparable merging responses to a typical multiagent system. In comparison with trajectory-based merging algorithms,the proposed framework is able to achieve finer stepwise tracking results without centralized coordination or predefined trajectories.

关键词： platoon merging connected autonomous vehicle multiagent system distributed controller

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connected autonomous vehicle Platoon Control Considering vehicle Dynamic Information

Connected Autonomous Vehicle Platoon Control Considering Veh...

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第37届中国控制会议

作者： Yongfu Li Changpeng He Key Laboratory of Industrial Internet of Things & Networked Control Ministry of Education Chongqing University of Posts and Telecommunications Industrial IoT Collaborative Innovation Center College of Automation Chongqing University of Posts and Telecommunications

Considering the effect of vehicle dynamic information, this study proposed a platoon control protocol for connected autonomous vehicles driving on the lane-disciplined roads under the vehicle-to-vehicle（V2 V） communication environment. Algebraic graph theory has been used to capture the communication connections between vehicles. In addition, the electronic throttle opening angle containing the vehicle dynamics information is incorporated in the control protocol. The stability and consensus of the proposed control protocol are verified using Routh–Hurwitz stability criterion. Furth, the performance of the control protocol is that vehicle states can reach the consensus with respect to spacing error and velocity under external perturbation. Finally, the effectiveness of the proposed protocol is verified by the numerical experiment.

关键词： Platoon control vehicle dynamic information connected autonomous vehicle V2V communication

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Reducing congestion and emissions via roadside unit deployment under mixed traffic flow

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International Journal of Coal Science & Technology 2023年第1期10卷 197-211页

作者： Yuhao Liu Zhibin Chen Siyuan Gong Han Liu Shanghai Key Laboratory of Urban Design and UrbanScience NYU ShanghaiShanghaiChina Division of Engineering and Computer Science NYUShanghaiShanghaiChina The Joint Laboratory for Internet of vehicles Ministryof Education-China Mobile Communications CorporationXi’anShaanxiChina School of Information Engineering Chang’an UniversityXi’anShaanxiChina Central Research Institute China Coal Technologyand Engineering Group(CCTEG)BeijingChina

It is expected that for a long time the future road trafc will be composed of both regular vehicles(RVs)and connected autonomous vehicles(CAVs).As a vehicle-to-infrastructure technology dedicated to facilitating CAV under the mixed trafc fow,roadside units(RSUs)can also improve the quality of information received by CAVs,thereby infuencing the routing behavior of CAV *** paper explores the possibility of leveraging the RSU deployment to afect the route choices of both CAVs and RVs and the adoption rate of CAVs so as to reduce the network congestion and *** this end,we frst establish a logit-based stochastic user equilibrium model to capture drivers’route choice and vehicle type choice behaviors provided the RSU deployment plan is ***,CAV users’perception error can be reduced by higher CAV penetration and denser RSUs deployed on the road due to the improved information *** the established equilibrium model,the RSU deployment problem is then formulated as a mathematical program with equilibrium *** active-set algorithm is presented to solve the deployment problem *** results suggest that an optimal RSU deployment plan can efectively drive the system towards one with lower network delay and emissions.

关键词： Roadside unit deployment connected autonomous vehicle Information quality Congestion and emission

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A review on cooperative perception and control supportedinfrastructure-vehicle system

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Green Energy and Intelligent Transportation 2022年第3期1卷 49-62页

作者： Guizhen Yu Han Li Yunpeng Wang Peng Chen Bin Zhou The School of Transportation Science and Engineering Beihang UniversityBeijing 100191China

With the rapid development of connected autonomous vehicles(CAVs),both road infrastructure and transport are experiencing a profound *** recent years,the cooperative perception and control supported infrastructure-vehicle system(IVS)attracted increasing attention in the field of intelligent transportation systems(ITS).The perception information of surrounding objects can be obtained by various types of sensors or communication *** commands generated by CAVs or infrastructure can be executed promptly and accurately to improve the overall performance of the transportation system in terms of safety,efficiency,comfort and energy *** study presents a comprehensive review of the research progress achieved upon cooperative perception and control supported IVS over the past *** focusing on the essential interactions between infrastructure and CAVs and between CAVs,the infrastructure-vehicle cooperative perception and control methods are summarized and ***,the mining site as a closed scenario was used to show the current application of ***,the existing issues of the cooperative perception and control technology implementation are discussed,and the recommendation for future research directions are proposed.

关键词： Cooperative perception Cooperative control Intelligent transportation systems autonomous driving connected autonomous vehicle

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