Dynamics Platooning Model and Protocols for Self-Driving Vehicles

Farag, Amr; Hussein, Ahmed; Shehata, Omar M.; García, Fernando; Tadjine, Hadj Hamma; Matthes, Elmar

doi:10.1109/ivs.2019.8813864

Cited by 19 publications

(4 citation statements)

References 14 publications

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“…In [102], in order to perform platoon joining and leaving maneuvers, a Lyapunov approach is used to control the speed of a single vehicle in the platoon, a PID controller is used to control the gap between vehicles in the platoon, and an adaptive MPC controller is used to control the lateral position and the steering angle to have a safe lane change and lanekeeping maneuvers. A one-wheel vehicle model is used to study the effectiveness of Lyapunov and PID controllers in the longitudinal direction.…”

Section: Maneuver Controlmentioning

confidence: 99%

Platoon Transitional Maneuver Control System: A Review

et al. 2021

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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.

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Section: Maneuver Controlmentioning

confidence: 99%

Platoon Transitional Maneuver Control System: A Review

et al. 2021

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“…In this section, we mainly review previous studies for vehicle platooning performed in a distributed manner and discuss the requirements imposed on urban platooning. Many protocols for vehicle platooning on highways have been designed, which adopt either a centralized approach or a distributed approach to vehicle platoon formation [ 7 , 21 , 22 , 23 , 24 , 25 ]. The centralized approach requires a central system that is responsible for determining which vehicle platoon a given vehicle will join.…”

Section: Related Workmentioning

confidence: 99%

“…There is a study that enables the joining of a platoon regardless of the driving position of a given vehicle [ 22 ]. Vehicles on the road exchange information of their speeds and positions with the surrounding vehicles to support both lateral and longitudinal control models.…”

Section: Related Workmentioning

confidence: 99%

Distributed Urban Platooning towards High Flexibility, Adaptability, and Stability

Jeong

Baek

Son

2021

Sensors

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Vehicle platooning reduces the safety distance between vehicles and the travel time of vehicles so that it leads to an increase in road capacity and to saving fuel consumption. In Europe, many projects for vehicle platooning are being actively developed, but mostly focus on truck platooning on the highway with a simpler topology than that of the urban road. When an existing vehicle platoon is applied to urban roads, many challenges are more complicated to address than highways. They include complex topology, various routes, traffic signals, intersections, frequent lane change, and communication interference depending on a higher vehicle density. To address these challenges, we propose a distributed urban platooning protocol (DUPP) that enables high mobility and maximizes flexibility for driving vehicles to conduct urban platooning in a decentralized manner. DUPP has simple procedures to perform platooning maneuvers and does not require explicit conforming for the completion of platooning maneuvers. Since DUPP mainly operates on a service channel, it does not cause negative side effects on the exchange of basic safety messages on a control channel. Moreover, DUPP does not generate any data propagation delay due to contention-based channel access since it guarantees sequential data transmission opportunities for urban platooning vehicles. Finally, to address a problem of the broadcast storm while vehicles notify detected road events, DUPP performs forwarder selection using an analytic hierarchy process. The performance of the proposed DUPP is compared with that of ENSEMBLE which is the latest European platooning project in terms of the travel time of vehicles, the lifetime of an urban platoon, the success ratio of a designed maneuver, the external cost and the periodicity of the urban platooning-related transmissions, the adaptability of an urban platoon, and the forwarder selection ratio for each vehicle. The results of the performance evaluation demonstrate that the proposed DUPP is well suited to dynamic urban environments by maintaining a vehicle platoon as stable as possible after DUPP flexibly and quickly forms a vehicle platoon without the support of a centralized node.

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“…For these reasons, several authors have proposed linear parameter varying (LPV) models to describe the dynamic behavior of several different vehicles [12]- [15]. A transition between a kinematic vehicle model for low velocities, and a dynamic vehicle model for higher velocities to ensure safety in emergency scenarios is proposed in [13].…”

Section: Introductionmentioning

confidence: 99%