2021
DOI: 10.48550/arxiv.2103.10287
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Formation Control for Connected and Automated Vehicles on Multi-lane Roads: Relative Motion Planning and Conflict Resolution

Abstract: Coordinated decision making and control can improve traffic efficiency while guaranteeing driving safety. This paper proposes a formation control method for multiple Connected and Automated Vehicles (CAVs) on multi-lane roads. A bi-level planning framework is proposed to smoothly and effectively switch the structure of the formation in different scenarios. The relative coordinate system is established and the conflict-free relative paths are planned in the upper level. Multi-stage trajectory planning and track… Show more

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Cited by 3 publications
(12 citation statements)
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“…This study proposes a bi-level formation control framework to solve this problem. Some preliminary results of this study have been presented in earlier publications [13], [14], [25].…”
Section: Formation Control Frameworkmentioning
confidence: 83%
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“…This study proposes a bi-level formation control framework to solve this problem. Some preliminary results of this study have been presented in earlier publications [13], [14], [25].…”
Section: Formation Control Frameworkmentioning
confidence: 83%
“…If the time bound is reached and no feasible solution is achieved, the algorithm returns no solution. More details about the conflict resolution and proof of properties can be found in [13] and [14].…”
Section: B Path Planning and Conflict Resolutionmentioning
confidence: 99%
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