Approach of Coordinated Control Method for Over-Actuated Vehicle Platoon based on Reference Vector Field

Liu, Yang; Zhang, Dong; Gordon, Timothy; Li, Guiyuan; Zong, Changfu

doi:10.3390/app9020297

Cited by 5 publications

(5 citation statements)

References 23 publications

(44 reference statements)

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“…The latter two are calculated using field theory. Among them, the distances inside the platoon are determined using Equation (3), and those outside the platoon are obtained using Equation (2). It should be noted that if a non-platoon vehicle does not exist, the critical distance between it and the platoon is zero.…”

Section: Design Of Platoon Lane Changing Processmentioning

confidence: 99%

“…Lane following and cruise control technologies of platoon driving were proposed. Liu et al [2] proposed a coupling control method for path tracking and maintaining spacing based on a reference vector field. Kim [3] presented a novel approach for the longitudinal control of a truck platoon as the trucks move along a curved lane, as well as a straight line.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Improving the Safe Operation of Platoon Lane Changing for Connected Automated Vehicles: A Novel Field-Driven Approach

et al. 2021

Applied Sciences

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Connected and automated vehicles (CAVs) platoons have been widely researched because of their efficiency advantages. However, most studies mainly focus on the stability control of platoon and there is a lack of in-depth consideration of platoon lane changing. In order to make up for this vacancy, this study focused on the dynamic gap in the platoon lane changing process. First, an intra-platoon potential field of vehicles in the platoon was established by combining the repulsive force under vehicle safety and the gravity inside the platoon, which can effectively characterize the risk distribution around vehicles. Second, the platoon lane changing process was designed and critical distances of platoon vehicles under different conflict situations were analyzed. Based on this, this study proposed a critical distance model of platoon lane changing. Furthermore, we also found that the critical distances for platoon lane changing were within an interval with upper and lower bounds, which was different from the minimum distance of non-platoon vehicles. Finally, experiments were conducted and the results showed that the proposed model could effectively represent the relationship between the distance between vehicles in the platoon and the motion state of the surrounding vehicles. Moreover, the proposed method could also be applied to the lane-changing maneuver of a self-organizing platoon at a strategic level in a CAVs system.

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Section: Design Of Platoon Lane Changing Processmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Improving the Safe Operation of Platoon Lane Changing for Connected Automated Vehicles: A Novel Field-Driven Approach

et al. 2021

Applied Sciences

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show abstract

“…For instance, Zhu et al took the physiological characteristics of the driver as the parameters of driving style [12]. Other scholars have employed the interactive signals between drivers and vehicles as the parameters of driving style [9,13], while some researchers have focused on the vehicle running state as the parameters for driving style [14,15]. Although the review in [6] summarized many input characteristics, few are derived from the holistic running state of the vehicle.…”

Section: Introductionmentioning

confidence: 99%

“…Because of its simple and efficient performance and the ability for quadratic planning, it has been widely studied by scholars, and even widely used in the field of aviation path-tracking [19]. However, most of the current path-tracking strategies prioritize tracking performance, without considering the driver's psychological acceptance of control [13]. In the context of autonomous vehicles, achieving driver psychological acceptance of control is equally crucial alongside tracking performance.…”

Section: Introductionmentioning

confidence: 99%

Personalized Path-Tracking Approach Based on Reference Vector Field for Four-Wheel Driving and Steering Wire-Controlled Chassis

Dai,

Zong,

Zhang

et al. 2024

WEVJ

Self Cite

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It is essential and forward-thinking to investigate the personalized use of four-wheel driving and steering wire-controlled unmanned chassis. This paper introduces a personalized path-tracking approach designed to adapt the vehicle’s control system to human-like characteristics, enhancing the fit and maximizing the potential of the chassis’ multi-directional driving and steering capabilities. By modifying the classic vehicle motion controller design, this approach aligns with individual driving habits, significantly improving upon traditional path-tracking control methods that rely solely on reference vector fields. First, the classic reference vector field’s logic was expanded upon, and it is shown that a personalized upgrade is feasible. Then, driving behavior data from multiple drivers were collected using a driving simulator. The fuzzy c-means clustering method was used to categorize drivers based on typical states that match vehicle path-tracking performance. Additionally, the random forest algorithm was used as the method for recognizing driving style. Subsequently, a personalized path-tracking control strategy based on the reference vector field was developed and a distributed execution architecture for four-wheel driving and steering wire-controlled unmanned chassis was established. Finally, the proposed personalized path-tracking approach was validated using a driving simulator. The results of the experimental tests demonstrated that the personalized path-tracking control approach not only fits well with various driving styles but also delivers high accuracy in driving style identification, making it highly suitable for application in four-wheel driving and steering wire-controlled chassis.

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“…On the other hand, if the controller adopts the dynamically decoupled model, the reference trajectory should be carefully designed for global longitudinal stability and lateral error suppression. References [22,23] use the reference or driving path of the leader vehicle as the reference path of the other nodes to avoid the lateral tracking error increasing along the platoon.…”

Section: Introductionmentioning

confidence: 99%

Distributed non‐linear model predictive control with Gaussian process dynamics for two‐dimensional motion of vehicle platoon

Hu,

Shi,

Xie

et al. 2023

IET Intelligent Trans Sys

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The platoon control of connected and automated vehicles is an important topic in transportation research. The characteristics of non‐linearities, external disturbances, and strong coupling are non‐negligible in two‐dimensional motion control. An integrated longitudinal and lateral vehicle dynamics is required. A Gaussian Process‐based Distributed Stochastic Model Predictive Control (GP‐DSMPC) for two‐dimensional motion is proposed. It achieves global longitudinal stability and lateral error suppression. Gaussian process (GP) regression is employed to approximate the unknown model error. For the two‐norm chance constraints, over‐approximating the confidence ellipse to an outer polyhedron is an effective way to reduce the conservativeness and coupling effect in longitudinal and lateral motion. A neighbour‐average target trajectory is designed with an upper‐level optimization for adjustable target coefficients. The sum of the local cost functions is used as a Lyapunov candidate to achieve the global stability of the longitudinal motion. Some conditions on penalty weights and target coefficients among subsystems, and terminal outputs are derived. Simulation results reveal that the proposed method is effective for disturbance attenuation and performs better than distributed non‐linear model predictive control without GP estimation under low‐friction road conditions.

show abstract

Approach of Coordinated Control Method for Over-Actuated Vehicle Platoon based on Reference Vector Field

Cited by 5 publications

References 23 publications

Improving the Safe Operation of Platoon Lane Changing for Connected Automated Vehicles: A Novel Field-Driven Approach

Improving the Safe Operation of Platoon Lane Changing for Connected Automated Vehicles: A Novel Field-Driven Approach

Personalized Path-Tracking Approach Based on Reference Vector Field for Four-Wheel Driving and Steering Wire-Controlled Chassis

Distributed non‐linear model predictive control with Gaussian process dynamics for two‐dimensional motion of vehicle platoon

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