Merging of Connected and Automated Vehicles at Roundabout Using Model Predictive Control

Nor, Mohamad Hafizulazwan Bin Mohamad; Namerikawa, Toru

doi:10.23919/sice.2018.8492635

Cited by 9 publications

(4 citation statements)

References 6 publications

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“…The behavior of the merging vehicle in the lateral direction is to make a lane change, so it can treat the adjacent lane as its target which can give an attractive force and treat the previous lane as a obstacle to avoid. Given the lateral part of the potential function (17), the lateral controller which is used to control ω i can be determined by:…”

Section: Lateral and Longitudinal Controlmentioning

confidence: 99%

“…Some existing results consider the merging problem as a path following problem, where vehicles follow an optimal path to merge into another lane. Considered merging scenarios include freeway rampmerging [15], merging at intersections [16], and merging at roundabouts [17]. The approaches in [18,19] consider lateral behavior via a third-order polynomial to represent the lane-change trajectory, but the ego vehicle changes the lane during merging without cooperating with its neighboring vehicles (i.e.…”

Section: Introductionmentioning

confidence: 99%

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A Cooperative Protocol for Vehicle Merging Using Bi-dimensional Artificial Potential Fields

Liu

et al. 2022

Lecture Notes in Networks and Systems

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In recent years, platooning solutions like cooperative adaptive cruise control (CACC) have been deeply studied. It is common in such platooning literature to assume that the vehicles drive on the same lane (longitudinal platooning). At the same time, lateral control during merging maneuvers is commonly addressed as a path planning problem, in which the ego vehicle changes the lane during merging without necessarily cooperating with its neighboring vehicles (i.e. without considering gap closing). The primary objective of this article is to develop a control strategy which involves both longitudinal and lateral vehicle dynamics, where the vehicles merge and form a platoon in a cooperative way without a priori path planning. Appropriately designed bi-dimensional artificial potential fields are used to achieve this goal and the proposed protocol is verified through simulations with CarSim.

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Section: Lateral and Longitudinal Controlmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Cooperative Protocol for Vehicle Merging Using Bi-dimensional Artificial Potential Fields

Liu

et al. 2022

Lecture Notes in Networks and Systems

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“…These studies concentrate on the safety and societal impact of the IAVs. Safety studies carried out include studying the situational behavior [46] where distributed control algorithms for self-driving connected vehicles could potentially fail, e.g., at complicated intersections requiring efficient algorithms to arbitrate access [35], [47]. Closely related to safety are the security aspects of such IAVs; detailed studies have been carried out by the researcher to study the impact of cyber threats [48].…”

Section: Simulation Studies Related To Iavsmentioning

confidence: 99%

“…Another method to optimize the IAV control can be to merge IAV at the roundabouts using predictive control to reduce traffic congestions. This can be achieved by putting collision avoidance as a hard constraint [47]. The platoon control system is also used for IAV, as shown in Fig.…”

Section: B Autonomous Vehicles -Selfish Packets On the Iav Networkmentioning

confidence: 99%

Why is Internet of Autonomous Vehicles not as Plug and Play as We Think ? Lessons to Be Learnt From Present Internet and Future Directions

et al. 2020

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The recent race for autonomous or 'driverless' vehicles, has spawned a lot of research in the area of Internet of Autonomous Vehicles (IAVs). With the advent of the latest technology fueled by Artificial Intelligence and Machine Learning, Autonomous Vehicles (AVs) can now determine the best possible route to a destination based on the current traffic situation and take dynamic driving decisions accordingly, while preventing accidents. Field trials for single autonomous vehicles have been largely successful. However, as more autonomous vehicles will be added to the intelligent transport networks, current research is now centered around their synergistic coexistence in the offering of network-centric and user-centric services. This development is governed by borrowing several concepts from the legacy Internet to address the problems of IAVs. In this paper, we present an extensive overview of the research challenges in the IAVs. Moreover, our contributions in this paper are that (i) We show how the network-oriented cooperative client-server model will give way to a more unorthodox and 'selfish' decentralized and peer-to-peer (P2P) model, for example in the offering of navigation services on the IAV. (ii) We discuss how centralized architecture will give way to more distributed architectures for real-time information propagation over the IAV. (iii) We discuss how network-centric policies will begin to shift to user-centric under more beneficial revenue models by offering network-assisted quality of service (QoS) provisioning. (iv) We discuss in detail how vehicle traffic grooming in the IAV would present as much of a challenge as in the legacy Internet. (v) We discuss the disruptive role of value-added services on the IAV, and (iv) Finally, we discuss the problem of cyber threats in the IAV just as in the legacy Internet.

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Optimal Orientation for Automated Vehicles on Large Lane-Free Roundabouts

Naderi,

Mavroeidi,

Papamichail

et al. 2023

2023 62nd IEEE Conference on Decision and Control (CDC)

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Merging of Connected and Automated Vehicles at Roundabout Using Model Predictive Control

Cited by 9 publications

References 6 publications

A Cooperative Protocol for Vehicle Merging Using Bi-dimensional Artificial Potential Fields

A Cooperative Protocol for Vehicle Merging Using Bi-dimensional Artificial Potential Fields

Why is Internet of Autonomous Vehicles not as Plug and Play as We Think ? Lessons to Be Learnt From Present Internet and Future Directions

Optimal Orientation for Automated Vehicles on Large Lane-Free Roundabouts

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