On-ramp Merging on Highway for Cooperative Automated Vehicles based on an Online Reconfigurable Formation Control Approach
Résumé
On-ramp merging scenarios remain among the most complex challenges for Autonomous Vehicle (AV) technology despite the significant advancements. In this paper, instead of considering individually each AV during the merging, it is proposed to take advantage from the Cooperative Automated Vehicles (CAVs) to tackle the on-ramp merging on highway. The main contribution of this paper is an overall cooperation strategy and formation control approach based on the online cooperative formation reconfiguration strategy, called Formation Reconfiguration Approach based on an Online Control Strategy (FRA-OCS). The proposed strategy operates under the cooperative mode part of the Altruistic Formation Reconfiguration Strategy (AFRS) [2]. To overcome the limitations of both the Constrained Optimal Reconfiguration Matrix (CORM) [1], and the Extended Constrained Optimal Reconfiguration Matrix (E-CORM) [2], the proposed FRA-OCS extends its functionality to ensure both formation safety criteria and efficient formation reconfiguration during the merging maneuvers, allowing thus even more reliable and flexible CAVs coordination. Several simulations are performed to evaluate the safety and reliability of the proposed approach.
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