Abstract
This paper presents an approach for formulating dynamic cooperative maneuvers for platoons of autonomous vehicles. Each member of a platoon is represented by a dynamic model and has a set of tactical and operational controllers in the form of hierarchical event-chains and low-level longitudinal/latitudinal controllers. These models and controllers are incorporated in simulation environments and demonstrate the ability for platoons to cooperatively maneuver around each other and other hazards. Multiple vehicles in convoys drive autonomously down a two-lane roadway and are simulated to ensure a safe and cooperative operation taking into account a raft of widely varying requirements that exist in a public transport environments. A set of concepts such as event conditions, sub-chaining and limited progression are introduced and used to promote responsive maneuver patterns. Results from a multiple convoy simulation validate the strategy presented.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
