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Reference Generator for a Platoon of Position-Controlled Vehicles on a Curved Path
Journal Article
12-07-02-0009
ISSN: 2574-0741, e-ISSN: 2574-075X
Sector:
Citation:
Bhaskar, R., Potluri, R., and Wahi, P., "Reference Generator for a Platoon of Position-Controlled Vehicles on a Curved Path," SAE Intl. J CAV 7(2):2024, https://doi.org/10.4271/12-07-02-0009.
Language:
English
Abstract:
Vehicular automation in the form of a connected and automated vehicle platoon is
demanding as it aims to increase traffic flow and driver safety. Controlling a
vehicle platoon on a curved path is challenging, and most solutions in the
existing literature demonstrate platooning on a straight path or curved paths at
constant speeds. This article proposes an algorithmic solution with
leader-following (LF) communication topology and constant distance (CD) spacing
for platooning homogeneous position-controlled vehicles (PCVs) on a curved path,
with each vehicle capable of cornering at variable speeds. The lead vehicle
communicates its reference position and orientation to all the follower
vehicles. A follower vehicle stores this information as a virtual trail of the
lead vehicle for a specific period. An algorithm uses this trail to find the
follower vehicle’s reference path by solving an optimization problem. This
algorithm is feasible and maintains a constant inter-vehicle distance. The PCVs
can be holonomic or nonholonomic. For simulations, this article considers a
holonomic four-wheel independent steering four-wheel independent drive
(4WIS4WID) PCV for platooning. This vehicle has superior maneuverability and
traction and can extend the applications of vehicle platoons from highways to
paths with smaller radii of curvature. Simulation of a five-vehicle platoon
suggests a satisfactory performance of the proposed approach. This article also
presents an alternate curved platooning approach where the lead vehicle
communicates its reference longitudinal and lateral velocities and yaw rate to a
follower vehicle. The follower vehicle directly follows these communicated
signals for platooning. This approach does not store the communicated signals
and also cuts the cost of the position controller for the follower vehicles.
Simulation results show that this alternative approach is applicable to
constant-speed motion.