A Cooperative Protocol for Vehicle Merging Using Bi-dimensional Artificial Potential Fields

Zhengqiang Liu, Di Liu, Wenwu Yu*, Simone Baldi

*Corresponding author for this work

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

Abstract

In recent years, platooning solutions like cooperative adaptive cruise control (CACC) have been deeply studied. It is common in such platooning literature to assume that the vehicles drive on the same lane (longitudinal platooning). At the same time, lateral control during merging maneuvers is commonly addressed as a path planning problem, in which the ego vehicle changes the lane during merging without necessarily cooperating with its neighboring vehicles (i.e. without considering gap closing). The primary objective of this article is to develop a control strategy which involves both longitudinal and lateral vehicle dynamics, where the vehicles merge and form a platoon in a cooperative way without a priori path planning. Appropriately designed bi-dimensional artificial potential fields are used to achieve this goal and the proposed protocol is verified through simulations with CarSim.

Original languageEnglish
Title of host publicationRobot Intelligence Technology and Applications 6
Subtitle of host publicationResults from the 9th International Conference on Robot Intelligence Technology and Applications
EditorsJinwhan Kim, Brendan Englot, Hae-Won Park, Han-Lim Choi, Hyun Myung, Junmo Kim, Jong-Hwan Kim
PublisherSpringer Science
Pages566-577
ISBN (Electronic)978-3-030-97672-9
ISBN (Print)978-3-030-97671-2
DOIs
Publication statusPublished - 2022
Event9th International Conference on Robot Intelligence Technology and Applications, RiTA 2021 - Daejeon, Korea, Democratic People's Republic of
Duration: 16 Dec 202117 Dec 2021

Publication series

NameLecture Notes in Networks and Systems
Volume429 LNNS
ISSN (Print)2367-3370
ISSN (Electronic)2367-3389

Conference

Conference9th International Conference on Robot Intelligence Technology and Applications, RiTA 2021
Country/TerritoryKorea, Democratic People's Republic of
CityDaejeon
Period16/12/2117/12/21

Bibliographical note

Accepted Author Manuscript

Keywords

  • Artificial potential fields
  • Lateral control
  • Longitudinal control
  • Merging maneuver
  • Platooning

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