TY - GEN
T1 - Cooperative Motion Planning for Connected and Automated Vehicle Platoons at Unsignalized Intersections
AU - Zhang, Zhongqi
AU - Gao, Linjie
AU - Chen, Jiajin
AU - Xu, Mingyang
AU - Wang, Qi
AU - Duan, Xuting
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Against the backdrop of the rapid development of computer-related technologies, Connected and Automated Vehicle (CAV) have become a hot research issue in the field of transportation science and engineering. In the field of autonomous driving, there are insufficient research on the coordinated movement of multi-vehicle formations and the coordinated passage of intersections. In this paper, we propose a multi-vehicle cooperative formation motion planning method at non-signal intersections, based on the optimal control theory, and numerically solve the optimal with complex constraints by using the computational optimal control method. The control motion planning model proposes an optimal control framework with completeness and versatility. Among them, a two-vehicle formation model is proposed, and the joint simulation experiment of AMPL and MATLAB is carried out in the scenario of four formations cooperating through the intersection without signal lights, and the simulation results are compared and analysed, and finally the formation can reasonably travel farther within a certain period of time.
AB - Against the backdrop of the rapid development of computer-related technologies, Connected and Automated Vehicle (CAV) have become a hot research issue in the field of transportation science and engineering. In the field of autonomous driving, there are insufficient research on the coordinated movement of multi-vehicle formations and the coordinated passage of intersections. In this paper, we propose a multi-vehicle cooperative formation motion planning method at non-signal intersections, based on the optimal control theory, and numerically solve the optimal with complex constraints by using the computational optimal control method. The control motion planning model proposes an optimal control framework with completeness and versatility. Among them, a two-vehicle formation model is proposed, and the joint simulation experiment of AMPL and MATLAB is carried out in the scenario of four formations cooperating through the intersection without signal lights, and the simulation results are compared and analysed, and finally the formation can reasonably travel farther within a certain period of time.
KW - coordinated motion planning
KW - intelligent networked car formation
KW - intersection without signal lights
KW - numerical solution
KW - optimal control
UR - https://www.scopus.com/pages/publications/85173076865
U2 - 10.1109/ISoIRS59890.2023.00015
DO - 10.1109/ISoIRS59890.2023.00015
M3 - 会议稿件
AN - SCOPUS:85173076865
T3 - Proceedings - 2023 International Symposium on Intelligent Robotics and Systems, ISoIRS 2023
SP - 22
EP - 27
BT - Proceedings - 2023 International Symposium on Intelligent Robotics and Systems, ISoIRS 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 3rd International Symposium on Intelligent Robotics and Systems, ISoIRS 2023
Y2 - 26 May 2023 through 28 May 2023
ER -