The emerging connected automated vehicle (CAV) technique brings a new opportunity for the development of cooperative collision avoidance systems. This paper proposes a distributed coordinated brake control (DCBC) algorithm for longitudinal collision avoidance of multiple CAVs. Firstly, the studied scenario is defined, within which the communication topology and vehicle dynamics are modeled for a vehicle string and the control objective is designed to minimize the total relative kinetic energy. Next, the control problem is formulated into a centralized model predictive control problem, which is then transformed into a quadratic programming (QP) problem. By separating the QP problem into several sub-problems assigned to each CAV, distributed optimization is introduced to solve the QP problem in a distributed manner. Elaborate numerical simulation comparisons are conducted to demonstrate the advantage of the proposed DCBC algorithm.


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    Title :

    Distributed Coordinated Brake Control for Longitudinal Collision Avoidance of Multiple Connected Automated Vehicles


    Contributors:
    Hu, Manjiang (author) / Li, Junni (author) / Bian, Yougang (author) / Wang, Jianqiang (author) / Xu, Biao (author) / Zhu, Yanan (author)

    Published in:

    Publication date :

    2023-01-01


    Size :

    1938237 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



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