Coordinated lane change in autonomous driving: a computationally aware solution
| Autor: | Maria Prandini, Basak Sakcak, Alessandro Falsone |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Computer science 020208 electrical & electronic engineering ComputerApplications_COMPUTERSINOTHERSYSTEMS 02 engineering and technology Decoupling (cosmology) Phase (combat) Reduction (complexity) Vehicle dynamics 020901 industrial engineering & automation Control and Systems Engineering Control theory 0202 electrical engineering electronic engineering information engineering Key (cryptography) Platoon Merge (version control) |
| Zdroj: | IFAC-PapersOnLine. 53:15211-15216 |
| ISSN: | 2405-8963 |
| Popis: | This paper addresses the design of coordinated maneuvers in an autonomous driving set-up involving multiple vehicles. In particular, we consider a lane change problem where a vehicle has to merge in a platoon traveling in the adjacent lane of a two-lane one way road. We propose a cooperative solution that trades optimality for computational feasibility without simplifying the merging vehicle dynamics. The key idea is decoupling the problem into two phases: an online coordination phase where vehicles in the platoon create a gap where the merging vehicle can safely enter, and a merging phase, where the merging vehicle change lane by tracking a pre-computed optimal maneuver. A numerical case study shows the achieved trade off between performance degradation and reduction in computing time of the proposed solution. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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