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Communication Dans Un Congrès Année : 2023

Altruistic Coordination Strategy for On-Ramp Merging on Highway of a Formation of Cooperative Automated Vehicles

Résumé

It is getting increasingly recognized that, to get full advantage from Automated Vehicles (AVs), a number of situations involving multiple AVs will compulsory require the coordination of their relative activities and movements. Under the Multi-Vehicle Systems (MVS) paradigm, instead of considering individually each AV, it is proposed to create with several AVs a group that evolves under a certain coordination strategy. In this paper, it is proposed to utilize Cooperative Automated Vehicles (CAVs) synchronization ability to tackle one challenging scenario: on-ramp merging on highway. The main contribution of this paper is an overall collaborative approach, called Altruistic Formation Reconfiguration Strategy (AFRS), based on a multi-criteria optimization, to guarantee the safety and the energetic efficiency of CAVs, performing on-ramp merging on highway. Under the AFRS, it is proposed the extension of the Constrained Optimal Reconfiguration Matrix (CORM) [1] in order to overcome the CORM limitations, while guarantying both the CAV's non-collision requirement and the smooth collaborative navigation of the fleet. Several simulations are performed to evaluate the safety and reliability of the proposed approach.
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Dates et versions

hal-04117746 , version 1 (05-06-2023)

Identifiants

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Lyes Saidi, Lounis Adouane, Reine Talj. Altruistic Coordination Strategy for On-Ramp Merging on Highway of a Formation of Cooperative Automated Vehicles. 27th International Conference on Methods and Models in Automation and Robotics (MMAR 2023), Aug 2023, Miedzyzdroje, Poland. ⟨10.1109/MMAR58394.2023.10242397⟩. ⟨hal-04117746⟩
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