Development and Evaluation of a Unified Integrated Platoon Control System Architecture

Vehicle platooning has become a topic of substantial interest for development of safer and more efficient means of transportation. It is described as a string of connected autonomous vehicles traveling closely, maintaining certain inter-vehicular distances at a set speed boosting the road capacity,...

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Vydáno v:IEEE transactions on intelligent transportation systems Ročník 24; číslo 6; s. 5685 - 5704
Hlavní autoři: Mahfouz, Dalia M., Shehata, Omar M., Morgan, Elsayed I.
Médium: Journal Article
Jazyk:angličtina
Vydáno: New York IEEE 01.06.2023
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:
Algorithms
Computational modeling
Computer architecture
Control algorithms
Controllers
decentralized control
integrated architecture
Intelligent transportation systems
Lane changing
MRS-ITS simulator
Multiple robots
optimization
Platooning
Powertrain
Roads
Safety
Stability analysis
Topology
Tracking control
Vehicle dynamics
Vehicle platoon
ISSN:1524-9050, 1558-0016
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Shrnutí:Vehicle platooning has become a topic of substantial interest for development of safer and more efficient means of transportation. It is described as a string of connected autonomous vehicles traveling closely, maintaining certain inter-vehicular distances at a set speed boosting the road capacity, improving safety and lowering adverse environmental significance. In this study, several platooning concepts addressed in previous literature are revealed. A unified integrated platoon control architecture is constructed, employing the aforementioned concepts. This architecture contemplates a generic decoupled longitudinal and lateral engine-based vehicle model incorporating the powertrain dynamics. Several control algorithms are investigated, optimized and compared to manage the longitudinal inter-vehicular spacing distances of a formed platoon, as well as the lateral platoon motion tracking. The superior longitudinal controller in terms of spacing error convergence, velocity tracking and acceptable control effort, in addition to the outperformed lateral controller for its accurate lane change tracking and lower computational cost are promoted to be tested in the integrated architecture. Simulations are visualized using the Multi-Robot Systems Intelligent Transportation Systems (MRS-ITS) visualization tool for further realization of the results.
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ISSN:1524-9050
1558-0016
DOI:10.1109/TITS.2023.3262606