Adaptive strategies to platoon merging with vehicle engine uncertainty

Journal article (2021)

Authors

V. Jain Intelligent Vehicles - Mechanical, Maritime and Materials Engineering
Di Liu Southeast University, Rijksuniversiteit Groningen
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: © 2021 V. Jain, Di Liu, S. Baldi
DOI: https://doi.org/10.1016/j.ifacol.2020.12.2027
Autonomous vehicles Adaptive control Cooperative adaptive cruise control Platoon merging maneuvers
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Published Date

2021

Language

English

Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Bart De Schutter

Abstract

While several synchronization-based protocols have been provided for formation-keeping of cooperative vehicles, the problem of synchronized merging is more challenging. Challenges associated to the merging scenario include the need for establishing bidirectional interaction (in place of unidirectional look-ahead interaction), and the need for considering different engine dynamics (in place of homogeneous engine dynamics). This work shows how such challenges can be tackled via a newly proposed strategy based on adaptive control with bidirectional error: the adaptive control framework autonomously adapts to different engine dynamics, while the bidirectional error seamlessly allows the vehicle that wants to merge to interact with both the front and the rear vehicles, in a similar way as humans do.