Abstract
Connectivity and autonomy are considered two of the most promising technologies to improve mobility, fuel consumption, travel time, and traffic safety in the automated transportation industry. These benefits can be realized through vehicle platooning. A vehicle platoon is composed of a group of connected automated vehicles (CAVs) traveling together at consensual speed, following the leading vehicle (leader) while maintaining a prespecified inter-vehicle distance. This paper reviews the different existing control techniques associated with the transitional platoon maneuvers such as merge/split and lane change. Different longitudinal and lateral vehicle dynamics that are mainly used in the transitional platoon maneuvers are discussed. The most used control algorithms for both longitudinal and lateral control used for transitional platoon maneuvers are reviewed and the advantages and limitations of each control strategy are discussed. The most recent articles on platoon control maneuvers have been analyzed based on the proposed control algorithm, homogeneously or heterogeneously of platoon members, type of platoon maneuver, the aim of control problem, type of implementation, and used simulation tools. This paper also discusses different trajectory planning techniques used in lateral motion control and studies the most recent research related to trajectory planning for automated vehicles and summarizes them based on the used trajectory planning technique, platoon or/and lane change, the type of traffic, and the cost functions. Finally, this paper explores the open issues and directions for future research.
Highlights
Current transportation systems are being challenged with the constant increase in traffic capacity, fuel consumption, and environmental pollution
Vehicle control in a platoon needs to deal with transitional maneuvers such as lane change and splitting from and joining the platoon [2]
This paper has reviewed different existing control techniques associated with the transitional platoon maneuvers such as merge/split and lane change
Summary
Current transportation systems are being challenged with the constant increase in traffic capacity, fuel consumption, and environmental pollution. In [6], a survey on different lateral and longitudinal control algorithms, communication and positioning systems, effects of surrounding vehicles and environment on connected and automated vehicles (CAVs) for lane change and merge maneuvers is provided. These modules are the coordination module, perception module, and autopilot module. An example is given in [9], where the control hierarchical driving architecture is a centralized platoon strategy, where the platoon leader coordinates with platoon followers in a three-layer architecture: traffic control, management, and guidance layers Another important subsystem of this module is the inter-vehicle communication topology. Maneuver logic specifies ‘‘which’’ vehicle will perform the maneuver in ‘‘what’’ order and ‘‘where’’ to go instead of ‘‘how’’ it will do that, which is performed by the vehicle control
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