Platooning of connected and automated vehicles (CAVs) has received extensive interest due to its potential to improve road traffic. In this context, multi-lane platoons have appear as a generalized version of the classical train-like platoon structure used since the early platoon implementations in the 80s. Multi-lane platoons add structural flexibility at the price of more intricate internal dynamics, particularly with respect to internal lane changes. This work proposes a distributed scheme for lane changes inside a platoon based on a hierarchical control scheme that makes use of a graph theoretical formulation of platoon formations for reference generation and distributed model predictive control (DMPC) for vehicle command. The effectiveness of the proposed approach is tested by simulating a variety of scenarios.


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    Title :

    Graph-based Distributed Lane-change in Tight Multi-lane Platoons


    Contributors:


    Publication date :

    2021-08-09


    Size :

    788758 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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