Highlights The multi-lane platooning algorithm is consistent with modern ADS (automated driving system) software platforms, interacting with existing perception and control modules and operating in parallel with other ADS applications to fully deploy ADS functions on C-ADS-equipped vehicles. The multi-lane platooning algorithm covers decision making at different levels. i.e., strategic mission level and tactical motion level. The algorithm handles platooning under complex driving scenarios on multi-lane highways with combination of rule-based and learning-based methods. The algorithm uses trajectory generation and sharing for completing various types of behavior such that planned trajectories of other relevant C-ADS-equipped vehicles can be fully considered (i.e., intent sharing, of predictive nature). Hybrid simulation evaluation, including traffic simulation (SUMO), ADS simulation (CARLA) and joint simulation (co-simulation with both SUMO and CARLA) are used to comprehensively develop and test various aspects of the proposed algorithm.

    Abstract Driving automation and vehicle-to-vehicle (V2V) communication provide opportunities to deploy cooperative automated driving systems (C-ADS) for transportation system goals such as sustainability, safety, and efficiency. Among various C-ADS applications, vehicle platooning has great potential to achieve the above system management goals by establishing trajectory-aware V2V cooperative strategies among C-ADS vehicles. Previously, the concept of cooperative adaptive cruise control (CACC)—that is, single-lane decentralized ad-hoc operations of multiple vehicles that closely follow each other—has been studied by researchers extensively. This study builds upon the existing research and proposes a comprehensive multi-lane platooning algorithm with organized behavior via a hierarchical framework. The proposed algorithm adopts the modern state of the art (SOTA) C-ADS software platform framework, which consist of perception, plan and control levels. The multi-lane platooning algorithm incorporates both the strategic level (i.e., mission level) and the tactical level (i.e., motion level) decision-making to cope with complex multi-lane highway challenges, including same-lane platooning, multi-lane joining, and on-ramp merging. Based on the algorithm’s strategies, the platoon leaders coordinate between platoon members and external vehicles to guide the platoon through complicated and realistic driving scenarios. On the strategic mission level, a platooning behavior protocol based on a deterministic finite state machine (FSM) is developed to guide the member operations. Additionally, as heuristic protocols fall short in explicitly expressing complex cooperative scenarios, a genetic fuzzy system was trained with FSM as a baseline to extend the algorithm’s capability under the cooperative on-ramp merge scenarios. On the tactical motion level, trajectory generation for general ADS maneuvers (i.e., lane following and lane changing) and platooning behavior regulation is proposed such that planned trajectories of other relevant vehicles can be fully considered (i.e., intent sharing of predictive nature). The performance is evaluated in both traffic and automated driving simulators, and the results indicate that the proposed comprehensive multi-lane platooning algorithm can efficiently and safely regulate C-ADS-equipped vehicle behavior and meet system goals.


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    Title :

    Strategic and tactical decision-making for cooperative vehicle platooning with organized behavior on multi-lane highways


    Contributors:
    Han, Xu (author) / Xu, Runsheng (author) / Xia, Xin (author) / Sathyan, Anoop (author) / Guo, Yi (author) / Bujanović, Pavle (author) / Leslie, Ed (author) / Goli, Mohammad (author) / Ma, Jiaqi (author)


    Publication date :

    2022-10-31




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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