Adaptive strategies to platoon merging with vehicle engine uncertainty

Jain, V.; Liu, Di; Baldi, S.

doi:10.1016/j.ifacol.2020.12.2027

Adaptive strategies to platoon merging with vehicle engine uncertainty

Title

Adaptive strategies to platoon merging with vehicle engine uncertainty

Author

Jain, V. (TU Delft Intelligent Vehicles)
Liu, Di (Southeast University; Rijksuniversiteit Groningen)
Baldi, S. (TU Delft Team Bart De Schutter; Southeast University)

Date

2021

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.

Subject

adaptive control
Autonomous vehicles
cooperative adaptive cruise control
platoon merging maneuvers

To reference this document use:

http://resolver.tudelft.nl/uuid:98c5325f-53c0-466f-a1ce-749a48bb9a63

DOI

https://doi.org/10.1016/j.ifacol.2020.12.2027

ISSN

1474-6670

Source

IFAC-PapersOnLine, 53 (2020) (2), 15065-15070

Event

21st IFAC World Congress 2020, 2020-07-12 → 2020-07-17, Berlin, Germany