A Cooperative Protocol for Vehicle Merging Using Bi-dimensional Artificial Potential Fields

Conference paper (2022)

Authors

Zhengqiang Liu Southeast University
Di Liu Southeast University, Rijksuniversiteit Groningen
Wenwu Yu Southeast University
S. Baldi Team Bart De Schutter - Mechanical, Maritime and Materials Engineering , Southeast University
Research Group
Team Bart De Schutter (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2022 Zhengqiang Liu, Di Liu, Wenwu Yu, S. Baldi
DOI: https://doi.org/10.1007/978-3-030-97672-9_51
Platooning Artificial potential fields Lateral control Longitudinal control Merging maneuver
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Published Date

2022

Language

English

Reuse Rights

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Bart De Schutter

Abstract

In recent years, platooning solutions like cooperative adaptive cruise control (CACC) have been deeply studied. It is common in such platooning literature to assume that the vehicles drive on the same lane (longitudinal platooning). At the same time, lateral control during merging maneuvers is commonly addressed as a path planning problem, in which the ego vehicle changes the lane during merging without necessarily cooperating with its neighboring vehicles (i.e. without considering gap closing). The primary objective of this article is to develop a control strategy which involves both longitudinal and lateral vehicle dynamics, where the vehicles merge and form a platoon in a cooperative way without a priori path planning. Appropriately designed bi-dimensional artificial potential fields are used to achieve this goal and the proposed protocol is verified through simulations with CarSim.

Files

RITA21_0019_FI.pdf
(.pdf | 5.58 Mb)