Distributed control plane for safe cooperative vehicular cyber physical systems

Foukalas, Fotis; Pop, Paul

doi:10.1049/iet-cps.2019.0034

Cited by 1 publication

(2 citation statements)

References 35 publications

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“…In another example, there are four vehicles in Figure 4. The initial coordinates of the vehicles are (0,0), (−15, 20), (−15, 0) and (3,22); the heading angles are 95 • , −20 • , 20 • and −160 • ; the translational speeds are 2∕s, 1∕s, 1∕s and 1∕s. Starting from the initial states, the four vehicles have four points of collisions as is shown in Figure 4.…”

Section: Speed Regulationmentioning

confidence: 99%

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Coordinated collision avoidance for multi‐vehicle systems based on collision time

Wang

Liang

et al. 2021

IET Control Theory & Appl

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Vehicles have irregular shapes and inter-vehicle coordination is not a trivial task. Based on the distributed-system framework, this paper studies multi-vehicle control and coordinated obstacle avoidance for multiple autonomous vehicles with irregular shapes. The goal is to reach target points without collisions. The proposed approaches are based on collision time, which is calculated using vehicles' irregular shapes. The approaches have two parts. The first part enables a number of vehicles to reach the target points. The second part enables collision avoidance, which includes inter-vehicle collisions and vehicle-to-obstacle collisions. Speed regulation approach is proposed to change the speeds, and frequencymodulation approach is proposed to update control commands at varying steps, and a combined approach is also proposed. Simulation examples are set to verify the effectiveness of the proposed approaches.

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Section: Speed Regulationmentioning

confidence: 99%

“…Instead of guaranteed collision avoidance, parametric relaxation is used to strike a balance between conflicting targets. Cooperative control is studied in [22,23] and the goal is to ensure obstacle avoidance. Potential function is used in [24,25] for similar purposes.…”

Section: Introductionmentioning

confidence: 99%

Coordinated collision avoidance for multi‐vehicle systems based on collision time

Wang

Liang

et al. 2021

IET Control Theory & Appl

View full text Add to dashboard Cite

show abstract

Distributed control plane for safe cooperative vehicular cyber physical systems

Cited by 1 publication

References 35 publications

Coordinated collision avoidance for multi‐vehicle systems based on collision time

Coordinated collision avoidance for multi‐vehicle systems based on collision time

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