With the development of cellular communication technology and for the sake of reducing drag resistance, the multi-lane platoon technology will be more prosperous in the future. In this article, the cooperative vehicle platoon method on the public road is represented. The method’s architecture is mainly composed of the following parts: decision-making, path planning and control command generation. The decision-making uses the finite state machine to make decision and judgment on the cooperative lane change of vehicles, and starts to execute the lane change step when the lane change requirements are met. In terms of path planning, with the goal of ensuring comfort, the continuity of the vehicle state and no collision between vehicles, a fifth-order polynomial is used to fit every vehicle trajectory. In terms of control command generation module, a model predictive control algorithm is used to solve the multi-vehicle centralized optimization control problem. We use the two DOF vehicle model to simulate vehicle dynamics. The front wheel angle and acceleration or braking commands of multiple vehicles are optimized to ensure that the vehicle can well follow the trajectory of the vehicle which is calculated by the control command generation module. At the same time, the energy consumed by performing steering, acceleration and deceleration is also minimized. Finally, in the simulation process, we simulate one direction two lanes scenario. The result shows that the proposed method can effectively handle multi-lane platoon re-configuration scenario.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Arrangement and Control Method of Cooperative Vehicle Platoon


    Weitere Titelangaben:

    Sae Technical Papers


    Beteiligte:
    Wang, Guojun (Autor:in) / Chen, Guosheng (Autor:in) / Wu, Jian (Autor:in) / Zhang, Jinghua (Autor:in) / Li, Shuai (Autor:in) / Chen, Zhicheng (Autor:in) / Du, Zhiqiang (Autor:in)

    Kongress:

    SAE WCX Digital Summit ; 2021



    Erscheinungsdatum :

    06.04.2021




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




    Arrangement and Control Method of Cooperative Vehicle Platoon

    Chen, Guosheng / Wu, Jian / Li, Shuai et al. | British Library Conference Proceedings | 2021


    VEHICLE PLATOON AND PLATOON TRAVEL METHOD

    KIKUCHI OSAMU / ASAKAWA YUICHIRO / HASEBE HIROKI et al. | Europäisches Patentamt | 2018

    Freier Zugriff

    VEHICLE PLATOON SUPPORT METHOD, VEHICLE CONTROL DEVICE, AND VEHICLE PLATOON SUPPORT SYSTEM

    ENOMOTO TARO / ITO ATSUSHI / SAITO YUJI | Europäisches Patentamt | 2020

    Freier Zugriff

    Cooperative vehicle platoon control considering longitudinal and lane-changing dynamics*

    Hou, Kangning / Zheng, Fangfang / Liu, Xiaobo et al. | Taylor & Francis Verlag | 2024