This paper proposes a fuzzy-based decision-making framework for urban platooning in roundabout scenarios. By utilizing fuzzy logic to handle uncertainties and imprecise inputs, the framework adapts the behavior of platoon vehicles based on real-time traffic conditions, vehicle dynamics, and safety considerations. In addition, a MPC-based platoon following controller is proposed to execute the actions defined by the decision-making approach. This approach is tested in Carla simulator with successful results, proving the proposal is feasible for platoon handling in urban roundabouts.
Fuzzy Logic Based Decision-Making for Urban Platooning on Urban Roundabout Scenarios
Lect. Notes in Networks, Syst.
Iberian Robotics conference ; 2023 ; Coimbra, Portugal November 22, 2023 - November 24, 2023
2024-04-27
12 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
LiDAR-Based Urban Autonomous Platooning Simulation
SAE Technical Papers | 2020
|Sliding Mode Control for Urban Vehicles Platooning
British Library Conference Proceedings | 2008
|