Path Planning for Autonomous Platoon Formation

Sustainability

OuafaeEl Ganaoui-Mourlan¹  VaiosAndreas Kousournas²  Vaibhav Arora²  Stephane Camp²  Martin De Neuville²  Thomas Hannagan³ 

[1] IFP Energies Nouvelles, 1 et 4 Avenue de Bois-Préau, 92852 Rueil-Malmaison, France;IFP School, 228-232, Avenue Napoléon Bonaparte, CEDEX, 92852 Rueil-Malmaison, France;STELLANTIS, Centre Technique Vélizy, 78140 Vélizy-Villacoublay, France;

关键词: autonomous vehicle;    platoon formation;    path planning;    model predictive control;    RRT;    RRT*;   

DOI  :  10.3390/su13094668

来源: DOAJ

【 摘 要 】

In the context of automated highway systems (AHS), this work proposes an approach that enables a vehicle to autonomously join a platoon with optimized trajectory in the presence of dynamical traffic obstacles. A notable aspect is the use of Model Predictive Control (MPC) optimization of the planned path, in conjunction with a variant of the Rapidly-exploring Random Trees (RRT*) algorithm for the purpose of platoon formation. This combination efficiently explores the space of possible trajectories, returning trajectories that are smoothened out with respect to the dynamic constraints of the vehicle, while at the same time allowing for real-time implementation. The implementation we propose takes into consideration both localization and mapping through relevant sensors and V2V communication. The complete algorithm is tested over various nominal and worst-case scenarios, qualifying the merits of the proposed methodology.

【 授权许可】

Unknown