This paper investigates a distributed trajectory optimization and control problem for a collection of vehicles with a quadratic spacing policy. A quadratic spacing policy is introduced based on the expected platoon speed to improve flexibility of speed planning and regulation. The trajectory optimization problem is solved using distributed convex optimization based on spacing errors minimization, resulting in an algorithm to provide the optimal trajectory for all following vehicles. Then, a PID-type sliding mode controller with a double high-power reaching law is presented for speed tracking control of each follower. The methodology can guarantee the internal stability, string stability and traffic flow stability with ignorable turbulence of spacing and speed, as demonstrated by numerical simulations.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Distributed Trajectory Optimization and Platooning of Vehicles to Guarantee Smooth Traffic Flow


    Beteiligte:
    Guo, Ge (Autor:in) / Yang, Dongqi (Autor:in) / Zhang, Renyongkang (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2023-01-01


    Format / Umfang :

    3152682 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Platooning Trajectory Optimization for Connected Automated Vehicles in Coordinated Arterials

    Guerra, Agustin / Elefteriadou, Lily | Transportation Research Record | 2022


    Eco-Platooning for Cooperative Automated Vehicles Under Mixed Traffic Flow

    Hu, Yuying / Chen, Cailian / He, Jianping et al. | IEEE | 2021



    PLATOONING TRAFFIC ANNUNCIATOR

    GROLLE KENNETH A | Europäisches Patentamt | 2020

    Freier Zugriff

    Platooning traffic annunciator

    GROLLE KENNETH A | Europäisches Patentamt | 2021

    Freier Zugriff