Affiliation:
1. Tongji University, School of Automotive Studies
2. Tongji University
Abstract
<div class="section abstract"><div class="htmlview paragraph">With the extension of intelligent vehicles from individual intelligence to group
intelligence, intelligent vehicle platoons on intercity highways are important
for saving transportation costs, improving transportation efficiency and road
utilization, ensuring traffic safety, and utilizing local traffic intelligence
[<span class="xref">1</span>]. However, there are several
problems associated with vehicle platoons including complicated vehicle driving
conditions in or between platoon columns, a high degree of mutual influence,
dynamic optimization of the platoon, and difficulty in the cooperative control
of lane change. Aiming at the dual-column intelligent vehicle platoon control
(where “dual-column” refers to the vehicle platoon driving mode formed by
multiple vehicles traveling in parallel on two adjacent lanes), a multi-agent
model as well as a cooperative control method for lane change based on null
space behavior (NSB) for unmanned platoon vehicles are established in this
paper. Specifically, a multi-agent model of the dual-column vehicle platoon is
first established, which adopted a dual-star communication architecture based on
“vehicle-to-vehicle” interactions. Then, rules for changing lanes between
platoons are designed, and a method based on the risk perception coefficient for
determining the priority of the task is developed. Finally, a cooperative
control method of lane change based on NSB is proposed to further resolve the
conflict between the lane change task and the collision avoidance task. The
cooperative control method based on NSB is validated under the condition of
sudden deceleration during the lane change task using a driving simulator.
Validation results demonstrate that the method can ensure the safety of the
platoon and implement cooperative lane change between the platoon columns stably
and efficiently.</div></div>
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