Autonomous Vehicle Convoy Formation Control with Size/Shape Switching for Automated Highways
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27240%2F20%3A10245846" target="_blank" >RIV/61989100:27240/20:10245846 - isvavai.cz</a>
Result on the web
<a href="http://www.ije.ir/article_118794.html" target="_blank" >http://www.ije.ir/article_118794.html</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.5829/ije.2020.33.11b.07" target="_blank" >10.5829/ije.2020.33.11b.07</a>
Alternative languages
Result language
angličtina
Original language name
Autonomous Vehicle Convoy Formation Control with Size/Shape Switching for Automated Highways
Original language description
Today's semi-autonomous vehicles are gradually moving towards full autonomy. This transition requires developing effective control algorithms for handing complex autonomous tasks. Driving as a group of vehicles, referred to as a convoy, on automated highways is a highly important and challenging task that autonomous driving systems must deal with. This paper considers the control problem of a vehicle convoy modeled with linear dynamics. The convoy formation requirement is presented in terms of a quadratic performance index to minimize. The convoy formation control is formulated as a receding horizon linear-quadratic (LQ) optimal control problem. The receding horizon control law is innovatively defined via the solution to the algebraic Riccati equation. The solution matrix and therefore the receding horizon control law are obtained in the closed-form. A control architecture consisting of four algorithms is proposed to handle formation size/shape switching. The closed-form control law is at the core of these algorithms. Simulation results are provided to justify the models, solutions, and proposed algorithms. (C) 2020 Materials and Energy Research Center. All rights reserved.
Czech name
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Czech description
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Classification
Type
J<sub>SC</sub> - Article in a specialist periodical, which is included in the SCOPUS database
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
<a href="/en/project/EF16_027%2F0008463" target="_blank" >EF16_027/0008463: Science without borders</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2020
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
International Journal of Engineering, Transactions B: Applications
ISSN
1728-144X
e-ISSN
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Volume of the periodical
33
Issue of the periodical within the volume
11
Country of publishing house
IR - IRAN, ISLAMIC REPUBLIC OF
Number of pages
7
Pages from-to
2174-2180
UT code for WoS article
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EID of the result in the Scopus database
2-s2.0-85096413127