Flocking cooperative driving control of four-wheel independently driving electric autonomous vehicles considering vehicular dynamic processes

Xu, Liwei; Yin, Guodong; Zhang, Ning

doi:10.1109/chicc.2016.7554050

Cited by 2 publications

(2 citation statements)

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“…In the light of [42]- [45], the nonlinear system model ( 11) can be linearized to achieve a LTV system. We denote the state trajectory obtained by applying the input sequence u k ≡ u 0 to the nonlinear system (11) for k ≥ 0 with ξ k k=0 = ξ 0 using the symbol ξ k :…”

Section: A Discretization and Linearization Of The Nonlinear Dvs Modelmentioning

confidence: 99%

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Design of a Cooperative V2V Trajectory-Planning Algorithm for Vehicles Driven on a Winding Road With Consideration of Human Drivers’ Characteristics

et al. 2019

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A vehicle-to-vehicle (V2V) cooperative trajectory-planning algorithm for connected vehicles driven on a winding road considering characteristics of human drivers is presented in this paper. The algorithm of cooperative game is introduced to plan collision-free trajectories for the involved encountering vehicles, with satisfaction of the safety requirements including vehicle stability and road-departure avoidance. The trajectory-planning algorithm is then converted to a Model Predictive Control (MPC) problem and solved with the concept of Pareto Optimality. The algorithm is compared with a V2V trajectory-planning algorithm with non-cooperative game. Simulations are conducted in the scenarios of lane-exchange on arc shaped roads with different radius to verify the proposed algorithm. Results show that the algorithm can accomplish the task of trajectory-planning on either winding road or straight road successfully, considering the driver's characteristics. The difference of collaboration tendency in V2V driving between using cooperative algorithm and non-cooperative algorithm is also studied and described.INDEX TERMS Semi-autonomous vehicles, trajectory-planning, characteristics of human driver, cooperative control, model predictive control, winding road.

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Section: A Discretization and Linearization Of The Nonlinear Dvs Modelmentioning

confidence: 99%

“…with this sequence, the model of one DVS can be transformed into a LTV model. More detail can be seen in [44] and [45]. The LTV model of the DVS can be shown as follows…”

Section: A Discretization and Linearization Of The Nonlinear Dvs Modelmentioning

confidence: 99%