Speed control with low complexity for multiple autonomous vehicles in roundabouts

IF 5.1 3区 工程技术 Q1 TRANSPORTATION
Zsófia Farkas, Balázs Németh, András Mihály, Péter Gáspár
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引用次数: 0

Abstract

The paper introduces a high level speed control method for the coordination of multiple autonomous vehicles (AVs) in roundabout scenarios. The aim of the control method is to guarantee collision-free motion of the AVs, and similarly, to minimize their traveling time. In the method a priority-based ordering process of the AVs is used, which enforces the time-efficient motion of the AVs. The collision-free motion is guaranteed through an optimization-based method including control input constraints. The ordering process and the optimization form a low complexity solution, which requires low computation effort. The proposed control strategy is involved in the high level of a hierarchical control structure. The effectiveness of the proposed control strategy is illustrated by simulation examples and Hardware-in-the-Loop demonstration.
交叉路口多辆自动驾驶汽车低复杂度速度控制
本文介绍了一种多自动驾驶汽车环岛协调的高水平速度控制方法。该控制方法的目的是保证自动驾驶汽车的无碰撞运动,同样,最小化他们的行驶时间。该方法采用基于优先级的自动驾驶车辆排序流程,提高了自动驾驶车辆的运动时效性。通过包含控制输入约束的优化方法保证无碰撞运动。排序过程和优化过程形成了一个低复杂度的解,计算量小。所提出的控制策略涉及到层次控制结构的高层。仿真算例和硬件在环验证验证了所提控制策略的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
European Transport Research Review
European Transport Research Review Engineering-Mechanical Engineering
CiteScore
8.60
自引率
4.70%
发文量
49
审稿时长
13 weeks
期刊介绍: European Transport Research Review (ETRR) is a peer-reviewed open access journal publishing original high-quality scholarly research and developments in areas related to transportation science, technologies, policy and practice. Established in 2008 by the European Conference of Transport Research Institutes (ECTRI), the Journal provides researchers and practitioners around the world with an authoritative forum for the dissemination and critical discussion of new ideas and methodologies that originate in, or are of special interest to, the European transport research community. The journal is unique in its field, as it covers all modes of transport and addresses both the engineering and the social science perspective, offering a truly multidisciplinary platform for researchers, practitioners, engineers and policymakers. ETRR is aimed at a readership including researchers, practitioners in the design and operation of transportation systems, and policymakers at the international, national, regional and local levels.
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