Autonomous vehicle platoon overtaking at a uniform speed based on improved artificial potential field method

Abstract

Amidst the advancements in autonomous driving technology, platoons composed of autonomous vehicles have garnered significant attention due to their potential to alleviate traffic congestion and enhance transportation capacity. Addressing the issue of slow-moving vehicles obstructing the roadway, this study introduces a consistent overtaking strategy, leveraging an improved artificial potential field (IAPF) method. Through the incorporation of a velocity repulsive force field, a refined obstacle position repulsive force field, and a road boundary repulsive force field, the cumulative resultant force vector experienced by the autonomous vehicle is treated holistically. This approach ensures that the vehicle traverses in the direction of the total resultant force unit vector at a predefined speed. Moreover, the repulsive and attractive force coefficients are determined to guarantee convoy safety and uniform velocity. This research sets forth the architecture of the autonomous vehicle platoon, reconceptualizing overtaking maneuvers as dynamic target-tracking challenges. Throughout the overtaking phase, the obstructive vehicle is chosen either based on specific criteria fulfillment or by designating the lead vehicle's speed to a virtual dynamic target, thus safeguarding the overtaking procedure against potential collisions. Comprehensive simulations, conducted using Matlab and Unreal Engine software platforms, corroborate the efficacy and viability of the IAPF-based consistent speed overtaking strategy. Relative to the conventional APF approach, this method facilitates safe obstacle circumvention in dynamic settings and ensures vehicle velocity remains unaffected by resultant force fluctuations, maintaining consistent speed during overtaking.