Lateral control of a convoy of vehicles with a limited preview information

Mengke Liu; Siva Rathinam; Swaroop Darbha

doi:10.1117/12.2558737

19 May 2020 Lateral control of a convoy of vehicles with a limited preview information

Mengke Liu, Siva Rathinam, Swaroop Darbha

Proceedings Volume 11413, Artificial Intelligence and Machine Learning for Multi-Domain Operations Applications II; 114131M (2020) https://doi.org/10.1117/12.2558737
Event: SPIE Defense + Commercial Sensing, 2020, Online Only

Abstract

This work deals with the problem of lateral control for Emergency Lane Change (ELC) maneuvers for a convoy of Autonomous and Connected Vehicles (ACVs). Typically, an ELC maneuver is triggered by emergency cues from the front or the end of convoy. From a safety viewpoint, connectivity of vehicles is essential for obtaining preview information of preceding vehicles; every following vehicle could additionally get the position information of its preceding vehicle or vehicles for controller synthesis. In this work, we propose a method to synthesize a lateral controller by using preview GPS data from the lead and immediately preceding vehicles to construct a target trajectory for the ego vehicle to track. We then compute the feedforward control and feedback error signals based on the target trajectory. Numerical and experimental results corroborate the effectiveness of this scheme in terms of suppressing lateral string instabilities, thereby preventing the amplification of crosstrack errors as the vehicles in a convoy execute an ELC maneuver.

Conference Presentation

Citation Download Citation

Mengke Liu, Siva Rathinam, and Swaroop Darbha "Lateral control of a convoy of vehicles with a limited preview information", Proc. SPIE 11413, Artificial Intelligence and Machine Learning for Multi-Domain Operations Applications II, 114131M (19 May 2020); https://doi.org/10.1117/12.2558737

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