Platoon Merging Approach Based on Hybrid Trajectory Planning and CACC Strategies
Date
2021-04-08Keywords
Hybrid trajectory planning approach
CACC
Cooperative merging
Abstract
Currently, the increase of transport demands along with the limited capacity of the road
network have increased traffic congestion in urban and highway scenarios. Technologies such as
Cooperative Adaptive Cruise Control (CACC) emerge as efficient solutions. However, a higher
level of cooperation among multiple vehicle platoons is needed to improve, effectively, the traffic
flow. In this paper, a global solution to merge two platoons is presented. This approach combines:
(i) a longitudinal controller based on a feed-back/feed-forward architecture focusing on providing
CACC capacities and (ii) hybrid trajectory planning to merge platooning on straight paths. Experiments
were performed using Tecnalia’s previous basis. These are the AUDRIC modular architecture
for automated driving and the highly reliable simulation environment DYNACAR. A simulation test
case was conducted using five vehicles, two of them executing the merging and three opening the gap
to the upcoming vehicles. The ...
Type
journal article