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Different types of lane-changing assistance systems are usually developed separately by different automotive makers or suppliers. A lane-changing model can meet its own requirements, but it may be incompatible with another lane-changing model. In this paper, we verify if two lane-changing models are compatible so that the two corresponding vehicles on different lanes can exchange their lanes successfully. We propose a methodology and an algorithm to perform the verification on the combinations of four lane-changing models. Experimental results demonstrate the compatibility (or incompatibility) between the models. The verification results can be utilized during runtime to prevent incompatible vehicles from entering a lane-changing road segment. To the best of our knowledge, this is the first work considering the compatibility issue for lane-changing models.
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Flocking Control of Multi-agent Automated Vehicles for Curved Driving: A Polyline Leader Approach
Flocking control for multi-agent automated vehicles has attracted more research interest recently. However, one significant challenge is that the common use of point-shaped virtual leaders giving uniform navigations is unsuitable for vehicle motions with varying relative positions and orientations on multi-lane roads, particularly on curved sections. Considering the practical movements of multi-agent ground vehicles, this paper proposes a novel type of polyline-shaped leader(s) that aligns with multi-lane roads. Specifically, the polyline-shaped leader is composed of line segments that consider road curvatures, different lanes, and the flocking lattice configuration. Moreover, an artificial flow guidance method is applied to provide the direction of velocity references to ensure vehicles move within their respective lanes during the formed flocking. Simulation results demonstrate that the proposed approach can successfully regulate vehicles to drive in their lanes in coordinated motion, which gives fewer structural deviations on curved roads compared to the case with the point-shaped leader.
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- Award ID(s):
- 1828010
- PAR ID:
- 10514440
- Publisher / Repository:
- Elsevier
- Date Published:
- Journal Name:
- IFAC-PapersOnLine
- Volume:
- 56
- Issue:
- 3
- ISSN:
- 2405-8963
- Page Range / eLocation ID:
- 253 to 258
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Journal Article:
- https://doi.org/10.1016/j.ifacol.2023.12.033
