Control Architecture for Cooperative Autonomous Vehicles Driving in Platoons at Highway Speeds

The situation in which a vehicle has to avoid a collision with an obstacle can be difficult to realise in optimum conditions when the roads are crowded. This paper uses the advantages of vehicle grouping and vehicle-to-vehicle (V2V) communication, and proposes a control architecture, which ensures a...

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Autores principales:	Ovidiu Pauca, Anca Maxim, Constantin-Florin Caruntu
Formato:	article
Lenguaje:	EN
Publicado:	IEEE 2021
Materias:	Cooperative adaptive cruise control cooperative platoon merging data-packet-dropouts path planning model predictive control trajectory follower Electrical engineering. Electronics. Nuclear engineering TK1-9971
Acceso en línea:	https://doaj.org/article/b9a5ce924f894c6fa7abe623e118bcb4
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id	oai:doaj.org-article:b9a5ce924f894c6fa7abe623e118bcb4
record_format	dspace
spelling	oai:doaj.org-article:b9a5ce924f894c6fa7abe623e118bcb42021-11-24T00:02:19ZControl Architecture for Cooperative Autonomous Vehicles Driving in Platoons at Highway Speeds2169-353610.1109/ACCESS.2021.3128235https://doaj.org/article/b9a5ce924f894c6fa7abe623e118bcb42021-01-01T00:00:00Zhttps://ieeexplore.ieee.org/document/9615037/https://doaj.org/toc/2169-3536The situation in which a vehicle has to avoid a collision with an obstacle can be difficult to realise in optimum conditions when the roads are crowded. This paper uses the advantages of vehicle grouping and vehicle-to-vehicle (V2V) communication, and proposes a control architecture, which ensures a safe merging between the vehicles from two platoons. The architecture is formed by three layers, with the following tasks: <italic>i)</italic> to analyse the environment and to decide the best action for a certain vehicle, <italic>ii)</italic> to plan the new trajectory, and <italic>iii)</italic> to follow it at an imposed velocity or distance to the vehicle in front. The vehicles are equipped with a trajectory planner designed using two methods: the first one is based on a polynomial equation, and the second one is based on the model predictive control (MPC) algorithm. Each vehicle is also equipped with a trajectory follower, which has a cooperative adaptive cruise control (CACC) functionality based on a distributed model predictive control (DMPC) formulation. Also, the paper proposes a solution to compensate the data-packet-dropouts that are induced by the wireless communication network used to exchange information between vehicles. Moreover, to accommodate various realistic scenarios in the same control framework, the cost function for the DMPC algorithm was designed to take into account different communication topologies. The proposed architecture was tested in a simulation scenario, in which two platoons have to merge in order to avoid a fixed obstacle and the results show its efficiency.Ovidiu PaucaAnca MaximConstantin-Florin CaruntuIEEEarticleCooperative adaptive cruise controlcooperative platoon mergingdata-packet-dropoutspath planningmodel predictive controltrajectory followerElectrical engineering. Electronics. Nuclear engineeringTK1-9971ENIEEE Access, Vol 9, Pp 153472-153490 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Cooperative adaptive cruise control cooperative platoon merging data-packet-dropouts path planning model predictive control trajectory follower Electrical engineering. Electronics. Nuclear engineering TK1-9971
spellingShingle	Cooperative adaptive cruise control cooperative platoon merging data-packet-dropouts path planning model predictive control trajectory follower Electrical engineering. Electronics. Nuclear engineering TK1-9971 Ovidiu Pauca Anca Maxim Constantin-Florin Caruntu Control Architecture for Cooperative Autonomous Vehicles Driving in Platoons at Highway Speeds
description	The situation in which a vehicle has to avoid a collision with an obstacle can be difficult to realise in optimum conditions when the roads are crowded. This paper uses the advantages of vehicle grouping and vehicle-to-vehicle (V2V) communication, and proposes a control architecture, which ensures a safe merging between the vehicles from two platoons. The architecture is formed by three layers, with the following tasks: <italic>i)</italic> to analyse the environment and to decide the best action for a certain vehicle, <italic>ii)</italic> to plan the new trajectory, and <italic>iii)</italic> to follow it at an imposed velocity or distance to the vehicle in front. The vehicles are equipped with a trajectory planner designed using two methods: the first one is based on a polynomial equation, and the second one is based on the model predictive control (MPC) algorithm. Each vehicle is also equipped with a trajectory follower, which has a cooperative adaptive cruise control (CACC) functionality based on a distributed model predictive control (DMPC) formulation. Also, the paper proposes a solution to compensate the data-packet-dropouts that are induced by the wireless communication network used to exchange information between vehicles. Moreover, to accommodate various realistic scenarios in the same control framework, the cost function for the DMPC algorithm was designed to take into account different communication topologies. The proposed architecture was tested in a simulation scenario, in which two platoons have to merge in order to avoid a fixed obstacle and the results show its efficiency.
format	article
author	Ovidiu Pauca Anca Maxim Constantin-Florin Caruntu
author_facet	Ovidiu Pauca Anca Maxim Constantin-Florin Caruntu
author_sort	Ovidiu Pauca
title	Control Architecture for Cooperative Autonomous Vehicles Driving in Platoons at Highway Speeds
title_short	Control Architecture for Cooperative Autonomous Vehicles Driving in Platoons at Highway Speeds
title_full	Control Architecture for Cooperative Autonomous Vehicles Driving in Platoons at Highway Speeds
title_fullStr	Control Architecture for Cooperative Autonomous Vehicles Driving in Platoons at Highway Speeds
title_full_unstemmed	Control Architecture for Cooperative Autonomous Vehicles Driving in Platoons at Highway Speeds
title_sort	control architecture for cooperative autonomous vehicles driving in platoons at highway speeds
publisher	IEEE
publishDate	2021
url	https://doaj.org/article/b9a5ce924f894c6fa7abe623e118bcb4
work_keys_str_mv	AT ovidiupauca controlarchitectureforcooperativeautonomousvehiclesdrivinginplatoonsathighwayspeeds AT ancamaxim controlarchitectureforcooperativeautonomousvehiclesdrivinginplatoonsathighwayspeeds AT constantinflorincaruntu controlarchitectureforcooperativeautonomousvehiclesdrivinginplatoonsathighwayspeeds
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Control Architecture for Cooperative Autonomous Vehicles Driving in Platoons at Highway Speeds

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