Advances in vehicular communication technologies are expected to facilitate cooperative driving. Connected and Automated Vehicles (CAVs) are able to collaboratively plan and execute driving maneuvers by sharing their perceptual knowledge and future plans. In this paper, an architecture for autonomous navigation of tight multi-lane platoons travelling on public roads is presented. Using the proposed approach, CAVs are able to form single or multi-lane platoons of various geometrical configurations. They are able to reshape and adjust their configurations according to changes in the environment. The proposed architecture consists of two main components: an offline motion planner system and an online hierarchical control system. The motion planner uses an optimization-based approach for cooperative formation and reconfiguration in tight spaces. A constrained optimization scheme is used to plan smooth, dynamically feasible and collision-free trajectories for all the vehicles within the platoon. The paper addresses online computation limitations by employing a family of maneuvers precomputed offline and stored on a look-up table on the vehicles. The online hierarchical control system is composed of three levels: a traffic operation system (TOS), a decision-maker, and a path-follower. The TOS determines the desired platoon reconfiguration. The decision-maker checks the feasibility of the reconfiguration plan. The reconfiguration maneuver is executed by a low-level path-following feedback controller in real-time. The effectiveness of the approach is demonstrated through simulations of three case studies: 1) formation reconfiguration 2) obstacle avoidance, and 3) benchmarking against behavior-based planning in which the desired formation is achieved using a sequence of motion primitives. Videos and software can be found online https://github.com/RoyaFiroozi/Centralized-Planning.
翻译:连接和自动化车辆(CAVs)能够通过共享其感知知识和未来计划来协作规划和执行驾驶动作。在本文中,展示了在公共道路上行驶的紧凑多列排的自主导航架构。使用拟议方法,CAV能够形成各种几何配置的单行或多行排。它们能够根据环境的变化调整和调整其配置。拟议结构由两个主要部分组成:离线运动规划系统和在线上层控制系统。运动规划员使用基于优化的方法在紧密空间中形成和重组合作。一个有限的优化计划用于为排内所有车辆规划顺畅、动态可行和无碰撞的轨迹。使用预调离线式组合和储存在基于软件的3个表格中。在线等级控制系统由3个级别组成:动态操作系统(TOS),一个基于优化的系统在紧凑空间中构建和重组,一个决定流程,一个通过流程的流程,一个流程,一个通过流程的流程,一个流程,一个通过流程的流程的流程,一个通过流程的流程的流程,一个流程的流程,一个通过流程的流程的流程,一个通过流程的流程的流程的流程的流程的流程的流程定义确定。