Calculation algorithm for motion control target for the platooning of autonomous heavy vehicles

Author

Kaneko, Tetsuya ; Kuriyagawa, Yukiyo ; Kageyama, Ichiro

Author_Institution

Dept. of Mech. Eng. for Transp., Osaka Sangyo Univ., Daito, Japan

fYear

2014

fDate

9-11 July 2014

Firstpage

696

Lastpage

701

Abstract

In this study, we develop an algorithm for the realtime generation of a trajectory for a control target to realize the autonomous steering control needed to realise a platooning system for heavy trucks. The proposed algorithm consists of a driver model, which considers the risk potential, and a vehicle dynamics model. This algorithm was validated through simulations using a vehicle dynamics model with multiple degrees of freedom. In addition, the feasibility of real-time processing for the control target was determined through field tests in which the proposed algorithm was implemented on the control hardware of an experimental vehicle.

Keywords

motion control; road vehicles; steering systems; vehicle dynamics; autonomous heavy vehicles; autonomous steering control; calculation algorithm; driver model; heavy trucks; motion control target; platooning system; real-time processing; realtime generation; risk potential; vehicle dynamics model; Axles; Heuristic algorithms; Mathematical model; Merging; Trajectory; Vehicle dynamics; Vehicles; autonomous driving syste; driver model; platooning; risk potential model;

fLanguage

English

Publisher

ieee

Conference_Titel

Control (CONTROL), 2014 UKACC International Conference on

Conference_Location

Loughborough

Type

conf

DOI

10.1109/CONTROL.2014.6915224

Filename

6915224