Distance‐based formation control for multi‐lane autonomous vehicle platoons

Abstract

This paper investigates the formation control of connected autonomous vehicle (CAV) platoons moving in multi lanes using distance-based formation control techniques based on rigid graphs and V2V communication. A hierarchical architecture is proposed to decompose the cooperative control into velocity planning and vehicle dynamic control. A new velocity planning method is first developed via a distributed distance-based formation controller so that each vehicle can keep platoon and change lane. Then, for the vehicle dynamics with nonlinearities and bounded disturbances, an adaptive controller is designed for regulating driving/braking torque to achieve the longitudinal velocity output of the velocity planner. The steering controller is designed to adjust the yaw angle of each vehicle to track and change lanes. Furthermore, stability analysis is conducted based on the Lyapunov theory. Finally, the applications of the proposed control designs to various of automated highway system (AHS) scenarios including lane-change, curve lane and platoon overtaking, are simulated and numerically analysed to validate the effectiveness of theoretical results.

Research of obstacle vehicles avoidance for automated heavy vehicle platoon by switching the formation

“…Ma et al realized the coupled control of the platoon in both lateral and longitudinal directions based on nonsingular terminal sliding-mode controllers, and accomplished the behaviours of overtaking, cruising and splitting of the platoon [25]. Zhou et al built controllers for speed control and steering control of vehicles respectively, and realized the goal of formation driving in the traffic environment without obstacle vehicles [26]. Meanwhile, several studies have built controllers based on MPC to realize formation driving [27][28][29].…”

“…Zhou et al. built controllers for speed control and steering control of vehicles respectively, and realized the goal of formation driving in the traffic environment without obstacle vehicles [26]. Meanwhile, several studies have built controllers based on MPC to realize formation driving [27–29].…”

Interaction network‐based resilient consensus of connected vehicles against cyber‐attacks

“…Platooning of connected vehicles is an effective way to improve transportation efficiency with many potential advantages, e.g. increasing traffic throughput, reducing fuel consumption, and improving driving safety [1][2][3]. Essentially, the vehicle platooning problem could be considered as a consensus control problem [4,5].…”

Distributed Adaptive Formation Control for Uncertain Point Mass Agents With Mixed Dimensional Space

“…For instance, temperature-dependent friction constant can greatly influence the dynamics of electromechanical systems involving motors that generate heat [18]. In the existing literature, adaptive control can be combined with a distributed distance-based formation control to handle system uncertainties such as unknown and bounded disturbance [19]. As our next contribution, we design an adaptive control for the proposed distance-based formation control of phDAE systems.…”