Research of obstacle vehicles avoidance for automated heavy vehicle platoon by switching the formation

With the development of automated vehicles, researches related to automated vehicle platoon (AVP) have received more and more attention. AVP is considered one of the effective means to alleviate traffic congestion and reduce vehicle energy consumption. This paper studies a three-layer method of avoiding obstacle vehicles in traffic by switching the formation for the automated heavy vehicle platoon. In the decision-making layer, a decision-making system based on the finite-state machine is established for formation switching. In the second layer, the lane-changing trajectory is optimized based on the quantic polynomial curve fitting for vehicles that need to change lanes. In terms of vehicle control layer, each vehicle has a longitudinal controller based on sliding mode control and a lateral controller based on model predictive control to track the planned trajectory to complete the target formation. Finally, the proposed method is simulated in MATLAB/TruckSim. The simulation results show that the proposed method could effectively avoid the obstacle vehicles by switching the formation and has a small average value of errors in speed tracking and trajectory tracking.