Arrangement and Control Method of Cooperative Vehicle Platoon
- 提供方法
- 版元よりダウンロードリンクを連絡
- 形態
- 価格
- 一般価格(税込)：￥6,600 会員価格(税込)：￥5,280
- 文献・情報種別
- SAE Paper
No.2021-01-0113
- 掲載ページ
- 1-9(Total 9 p)
- 発行年月
- 2021年 4月
- 出版社
- SAE International
- 言語
- 英語
- イベント
- SAE WCX Digital Summit 2021
書誌事項
| 著者（英） | 1) Guosheng Chen, 2) Jian Wu, 3) Shuai Li, 4) Jinghua Zhang, 5) Zhiqiang Du, 6) Guojun Wang, 7) Zhicheng Chen |
|---|---|
| 勤務先（英） | 1) Jilin University, 2) Jilin University, 3) Jilin University, 4) Jilin University, 5) Jilin University, 6) Jilin University, 7) Jilin University |
| 抄録（英） | With the development of cellular communication technology and for the sake of reducing drag resistance, the multi-lane platoon technology will be more prosperous in the future. In this article, the cooperative vehicle platoon method on the public road is represented. The method’s architecture is mainly composed of the following parts: decision-making, path planning and control command generation. The decision-making uses the finite state machine to make decision and judgment on the cooperative lane change of vehicles, and starts to execute the lane change step when the lane change requirements are met. In terms of path planning, with the goal of ensuring comfort, the continuity of the vehicle state and no collision between vehicles, a fifth-order polynomial is used to fit every vehicle trajectory. In terms of control command generation module, a model predictive control algorithm is used to solve the multi-vehicle centralized optimization control problem. We use the two DOF vehicle model to simulate vehicle dynamics. The front wheel angle and acceleration or braking commands of multiple vehicles are optimized to ensure that the vehicle can well follow the trajectory of the vehicle which is calculated by the control command generation module. At the same time, the energy consumed by performing steering, acceleration and deceleration is also minimized. Finally, in the simulation process, we simulate one direction two lanes scenario. The result shows that the proposed method can effectively handle multi-lane platoon re-configuration scenario. 翻訳 |
