Distributed Nonlinear Model Predictive Control and Metric Learning for Heterogeneous Vehicle Platooning with Cut-in/Cut-out Maneuvers

Basiri, Mohammad Hossein; Ghojogh, Benyamin; Azad, Nasser L.; Fischmeister, Sebastian; Karray, Fakhri; Crowley, Mark

doi:10.1109/cdc42340.2020.9304180

Cited by 24 publications

(15 citation statements)

References 23 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In [105], to control platoon joining and leaving maneuvers with heterogeneous vehicle dynamics (platoon of vehicles with different dynamics), a Distributed Nonlinear MPC (DNMPC) is developed. A simulation study has been conducted to investigate the validity of the proposed controller with different communication topologies.…”

Section: Maneuver Controlmentioning

confidence: 99%

Platoon Transitional Maneuver Control System: A Review

et al. 2021

View full text Add to dashboard Cite

Connectivity and autonomy are considered two of the most promising technologies to improve mobility, fuel consumption, travel time, and traffic safety in the automated transportation industry. These benefits can be realized through vehicle platooning. A vehicle platoon is composed of a group of connected automated vehicles (CAVs) traveling together at consensual speed, following the leading vehicle (leader) while maintaining a prespecified inter-vehicle distance. This paper reviews the different existing control techniques associated with the transitional platoon maneuvers such as merge/split and lane change. Different longitudinal and lateral vehicle dynamics that are mainly used in the transitional platoon maneuvers are discussed. The most used control algorithms for both longitudinal and lateral control used for transitional platoon maneuvers are reviewed and the advantages and limitations of each control strategy are discussed. The most recent articles on platoon control maneuvers have been analyzed based on the proposed control algorithm, homogeneously or heterogeneously of platoon members, type of platoon maneuver, the aim of control problem, type of implementation, and used simulation tools. This paper also discusses different trajectory planning techniques used in lateral motion control and studies the most recent research related to trajectory planning for automated vehicles and summarizes them based on the used trajectory planning technique, platoon or/and lane change, the type of traffic, and the cost functions. Finally, this paper explores the open issues and directions for future research.

show abstract

Section: Maneuver Controlmentioning

confidence: 99%

Platoon Transitional Maneuver Control System: A Review

et al. 2021

View full text Add to dashboard Cite

show abstract

“…Content may change prior to final publication. [18] LaneChange Investigates LaneChange options: simultaneously and time delay with varying inter-platoon spacing P, R Basiri et al 2020 [19] Merge Non-linear control for cut-in cut-out manoeuvres P Sivanandham et al 2020 [20] Merge Freight platoon manouevre control P Kazerooni & Ploeg 2015 [21] Join, LaneReduction, GapOpen, GapClose Design of interaction protocols for LaneReduction and JoinMiddle, Analysis of velocity profiles P, R Elbert et al 2020 [22] Merge Agent-based simulation Freight platoon manouevre control P Rajamani et al 2000 [9] Join, Leave, LaneChange (FSM) Lateral and longitudinal control for Merge and Join, and LaneChange P, R [37] JoinMiddle, GapOpen, GapClose Trajectories for JoinMiddle for minimizing carbon emissions R * Focus of the paper, C = Communication, R = Regulation Layer, P = Platooning Layer goals that the framework should fulfil, and postulate the overarching design principles to achieve the design goals. Figure 4 provides an overview of the interrelations among deficits, goals, and principles.…”

Section: Requirements and Principlesmentioning

confidence: 99%

A Hierarchical State-Machine-Based Framework for Platoon Manoeuvre Descriptions

Ivanchev¹,

Deboeser²,

Braud³

et al. 2021

IEEE Access

View full text Add to dashboard Cite

This paper introduces the a framework that simplifies the process of designing and describing autonomous vehicle platooning manoeuvres which implements four design principles: Standardisation, Encapsulation, Abstraction, and Decoupling (SEAD). Although a large body of research has been formulating platooning manoeuvres, it is still challenging to design, describe, read, and understand them. This difficulty largely arises from missing formalisation. To fill this gap, we analysed existing ways of describing manoeuvres, derived the causes of difficulty, and designed a framework that simplifies the manoeuvre design process. Alongside, a Manoeuvre Design Language was developed to structurally describe manoeuvres in a machine-readable format. Unlike state-of-the-art manoeuvre descriptions that require one state machine for every participating vehicle, the SEAD framework allows describing any manoeuvre from the single perspective of the platoon leader. We hope that the SEAD framework will pave the way for further research in the area of new manoeuvre design and optimisation by largely simplifying and unifying platooning manoeuvre representation.

show abstract

“…In Basiri et al [18], introduce a distributed system which aims to control a dynamic platoon with unidirectional topologies. Moreover, it can handle both cut-in/cut-out operations and avoid collisions.…”

Section: Operations Making Change In the Platoon Structurementioning

confidence: 99%

“…In this work, the authors are interested in linear platoons. Their approach consists in considering a platoon as a reactive multi-agent systems [47] where each vehicle Basiri et al [18] Handwritten proofs -Stability of the platoon and safety properties embeds an autonomous agent. Two types of vehicle are introduced: the leader and the follower.…”

Section: Model Checkingmentioning

confidence: 99%

Vehicle Platooning Systems: Review, Classification and Validation Strategies

Fakhfakh¹,

Tounsi²,

Mosbah³

2020

IJNDC

View full text Add to dashboard Cite

The increase in vehicle numbers has resulted in the growth of traffic jams in cities and highways, thereby raising various issues on fuel consumption, environmental pollution, and traffic safety [1]. Platooning is an Intelligent Transport System (ITS) [2] application which has emerged as a promising solution for the traffic management in highways. The main idea of vehicle platooning suggests that a set of vehicles travel together while maintaining a small distance between each other. This can lead to an increase in traffic capacity and then an improved traffic management and a reduced travel time. Moreover, the comfort and the safety of passengers are enhanced since the scenarios of extreme acceleration or deceleration are eliminated and the platoon vehicles are considered as a single unit. Furthermore, the emission performance and the fuel economy are significantly improved. A vehicle platoon (also called "convoy") can be seen as a group of vehicles that travel in close coordination through a headway control mechanism. These vehicles maintain a short spacing between them and a relative velocity. The vehicle in the front position, called leader, represents the trajectory and velocity reference. It controls all the following vehicles in the platoon. Each vehicle of the platoon receives orders from the leader that may be communicated either directly or by the preceding vehicle.As platooning system is a critical system, safety is an important issue. However, safety is exposed to several challenges if the system does not achieve its goal without any disturbance. For instance, it is important to ensure that vehicles do not get too close and react within a certain time frame during emergencies. Then, platooning systems need to be validated to ensure a reliable behaviour. For that, it is necessary to clearly define validation strategies (formal verification, simulation, etc.) as this has already been used in critical fields like healthcare [3] and avionics [4]. That is why, we make emphasis in this paper on the works that deal with validation methods and techniques for platooning systems. Related Surveys and Scope of the PaperThere are several useful surveys which have been conducted to deal with some aspects related to platooning algorithms.In Kavathekar and Chen [5], the authors introduce several existing algorithms which focus on vehicle platooning. Besides, they detail some methodologies for obstacle detection and collision avoidance. Furthermore, they are interested in inter-vehicle communication techniques which allow vehicles to share some information such as the velocity, acceleration and detected obstacles. In the same context, the survey of Jia et al.[6] provides a valuable insight about platoon-based vehicular systems. The main issues related to these systems are analysed such as the platoon management and the communication inter-and intra-platoon.The study of Kulla et al. [7] presents a survey in which they introduce a classification of vehicular communication methods which aim to control vehicles. Moreover...

show abstract

Distributed Nonlinear Model Predictive Control and Metric Learning for Heterogeneous Vehicle Platooning with Cut-in/Cut-out Maneuvers

Cited by 24 publications

References 23 publications

Platoon Transitional Maneuver Control System: A Review

Platoon Transitional Maneuver Control System: A Review

A Hierarchical State-Machine-Based Framework for Platoon Manoeuvre Descriptions

Vehicle Platooning Systems: Review, Classification and Validation Strategies

Contact Info

Product

Resources

About