Autonomous Vehicle Convoy Formation Control with Size/Shape Switching for Automated Highways

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Autonomous Vehicle Convoy Formation Control with Size/Shape Switching for Automated Highways

Popis výsledku v původním jazyce

Today&apos;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.

Název v anglickém jazyce

Autonomous Vehicle Convoy Formation Control with Size/Shape Switching for Automated Highways

Popis výsledku anglicky

Today&apos;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.

Druh

J_SC - Článek v periodiku v databázi SCOPUS

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

<a href="/cs/project/EF16_027%2F0008463" target="_blank" >EF16_027/0008463: Věda bez hranic</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2020

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

International Journal of Engineering, Transactions B: Applications

ISSN

1728-144X

e-ISSN

—

Svazek periodika

33

Číslo periodika v rámci svazku

11

Stát vydavatele periodika

IR - Íránská islámská republika

Počet stran výsledku

7

Strana od-do

2174-2180

Kód UT WoS článku

—

EID výsledku v databázi Scopus

2-s2.0-85096413127