Distributed graph-based control of convoys of heterogeneous vehicles using curvilinear road coordinates

Navarro, Iñaki; Zimmermann, Florian; Vasić, Milica; Martinoli, Alcherio

doi:10.1109/itsc.2016.7795659

Cited by 16 publications

(24 citation statements)

References 18 publications

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“…We observe that no convoy achieved the target speed of 16.66 m/s (60 km/h). This is expected considering that (i) the speed is controlled in an open-loop [6]; (ii) the convoy periodically brakes to simulate traffic congestion conditions; and (iii) in our communication approach, messages are broadcast without feedback. There is a clear inversely proportional trend between the number of vehicles in the convoy and the mean speed, which reaches 12 m/s for very large convoys.…”

Section: Simulation Resultsmentioning

confidence: 99%

“…In this paper, convoys are groups of automated vehicles which maintain a formation ruled by a distributed graphbased algorithm and information exchange via IVC [6]. As opposed to ACC with reactive spacing control, convoys in this scope are leaderless formations in which vehicles cooperatively adapt their inter-vehicle distance to maintain the desired configuration and common group speed.…”

Section: A Convoy Control and Communication Algorithmsmentioning

confidence: 99%

“…Each vehicle maintains a graph whose vertices represent vehicles and whose edges consist of the communication links [6], solely using the broadcast relative position of its neighbors. Using this graph and the Laplacian Fig.…”

Section: A Convoy Control and Communication Algorithmsmentioning

confidence: 99%

“…We use the lateral controller defined by [17], intended to remove angular and lateral errors and ensure lane keeping. Our previous works [6] fully describes the distributed graph-based control, usage of curvilinear coordinates, longitudinal and lateral controllers, as well as other implementation details.…”

Section: A Convoy Control and Communication Algorithmsmentioning

confidence: 99%

“…The product of this work is an open-source plug-in 1 enabling the use of ns-3 [4] within Webots [5]. The present work relies on and extends our work on distributed control of convoy driving [6] and on the performance evaluation of the communication system in convoys [7]. Compared to our previous work, this paper addresses convoy maneuvering supported by IVC and investigates the impact of IVC parameters on the maneuvering performance of a graph-based control algorithm for automated convoy driving.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Simulation of cooperative automated driving by bidirectional coupling of vehicle and network simulators

Llátser

Jornod

Festag

et al. 2017

2017 IEEE Intelligent Vehicles Symposium (IV)

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Abstract-The convergence of sensor-based vehicle automation and Inter-Vehicle Communication (IVC) will be a key to achieve the full automation of vehicles. In this paper we present a new method for the design and performance evaluation of Cooperative Automated Driving (CAD) systems, based on a bidirectional coupling of vehicle and network simulators (Webots and ns-3). The coupling exploits the comprehensive capabilities of the simulators at a reasonable computational complexity and allows simulating CAD systems with high accuracy. We demonstrate the capabilities of the simulation tool by a case study of convoy driving with automated vehicles using a fully distributed control algorithm and IVC. The study compares CAD-specific metrics (safety distance, headway, speed) for an ideal and a realistic communication channel. The simulation results underline the need of accurate modeling and give valuable insights for the design of CAD systems.

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Section: Simulation Resultsmentioning

confidence: 99%

Section: A Convoy Control and Communication Algorithmsmentioning

confidence: 99%

Section: A Convoy Control and Communication Algorithmsmentioning

confidence: 99%

Section: A Convoy Control and Communication Algorithmsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Simulation of cooperative automated driving by bidirectional coupling of vehicle and network simulators

Llátser

Jornod

Festag

et al. 2017

2017 IEEE Intelligent Vehicles Symposium (IV)

View full text Add to dashboard Cite

show abstract

Coordinated formation control for intelligent and connected vehicles in multiple traffic scenarios

Cai

et al. 2020

IET Intelligent Trans Sys

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In this paper, a unified multi‐vehicle formation control framework for intelligent and connected vehicles (ICVs) that can apply to multiple traffic scenarios is proposed. In the one‐dimensional scenario, different formation geometries are analysed, and the interlaced structure is mathematically modellised to improve driving safety while making full use of the lane capacity. The assignment problem for vehicles, and target positions is solved using Hungarian algorithm to improve the flexibility of the method in multiple scenarios. In the two‐dimensional scenario, an improved virtual platoon method is proposed to transfer the complex two‐dimensional passing problem to the one‐dimensional formation control problem based on the idea of rotation projection. Besides, the vehicle regrouping method is proposed to connect the two scenarios. Simulation results prove that the proposed multi‐vehicle formation control framework can apply to multiple typical scenarios, and have better performance than existing methods.

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Formation control for connected and automated vehicles on multi‐lane roads: Relative motion planning and conflict resolution

Cai

Chen

et al. 2022

IET Intelligent Trans Sys

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Existing research has revealed that multi‐vehicle coordinated decision making and control can achieve an improvement in both traffic efficiency and driving safety. In the multi‐lane scenarios, a typical coordination method is multi‐vehicle formation control. The existing formation control methods predefine the formation switching process and have not considered or explained the collision‐free behaviour of vehicles in detail. In this paper, a multi‐lane formation control strategy for connected and automated vehicles (CAVs) is proposed. The planning framework is bi‐level, which can switch the structure of multi‐vehicle formation in different scenarios smoothly and effectively. In the upper‐level, the relative coordinate system is built to plan the collision‐free relative paths for vehicles. In the lower‐level, multi‐stage trajectory planning and tracking are modelled as an optimal control problem with path constraints. The case study verifies the function of the formation control method in three lane‐number‐changing scenarios. Large‐scale simulations in the lane‐drop bottleneck scenario are conducted under different input traffic volumes, and the numerical results indicate that the proposed formation control method reduces congestion and improves both traffic efficiency and fuel economy at high traffic volumes.

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Distributed graph-based control of convoys of heterogeneous vehicles using curvilinear road coordinates

Cited by 16 publications

References 18 publications

Simulation of cooperative automated driving by bidirectional coupling of vehicle and network simulators

Simulation of cooperative automated driving by bidirectional coupling of vehicle and network simulators

Coordinated formation control for intelligent and connected vehicles in multiple traffic scenarios

Formation control for connected and automated vehicles on multi‐lane roads: Relative motion planning and conflict resolution

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