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Arrangement and Control Method of Cooperative Vehicle Platoons
ISSN: 0148-7191, e-ISSN: 2688-3627
To be published on April 06, 2021 by SAE International in United States
Event: SAE WCX Digital Summit
With the development of cellular communication technology and for the sake of reducing drag resistance, the multi-lane platoons technology will be more prosperous in the future. In this article, the cooperative vehicle platoons method on the public road is represented. The method’s architecture is composed of the following parts: behavior decision, path planning and vehicle dynamic control. The behavior decision uses the finite state machine to make decision and judgment on the cooperative lane change of vehicles, and starts to execute the lane change step when the lane change conditions are met. In terms of path planning, with the goal of ensuring comfort, the continuity of the vehicle state and no collision between vehicles, a fifth-order polynomial is used to fit every vehicle trajectory. In terms of vehicle dynamic control, a model predictive control algorithm is used to solve the multi-vehicle centralized optimization control problem. We use the two DOF vehicle model to simulate vehicle dynamics. the steering wheel and acceleration and braking commands of multiple vehicles are optimized to ensure that the vehicle can well follow the trajectory of the vehicle which is calculated by the upper planning layer. At the same time, the energy consumed by performing steering, acceleration and deceleration is also minimized. Finally, in the simulation process, we simulate various driving conditions such as cooperative lane change and cooperative obstacle avoidance and so on. The results show that the proposed method can use the same architecture to effectively handle multiple scenarios including single or multi-lane platoons.