Abstract
This work presents a distributed hierarchical control strategy for fleets of autonomous vehicles cruising on a highway with diverse desired speeds. The goal is to design a control scheme that can be employed in scenarios where only vehicle-to-vehicle communication is available and where vehicles need to negotiate and agree on their positions on the road. To this end, after reaching an agreement on the lane speed with other traffic participants, each vehicle decides whether to keep cruising along the current lane or to move into another one. In the latter case, it negotiates the entry point with others by taking part in a distributed auction. An onboard controller computes an optimal trajectory transferring the vehicle with agreed velocity to the desired lane while avoiding collisions.
Zusammenfassung
Diese Arbeit präsentiert eine verteilte hierarchische Regelungsstrategie für autonome Fahrzeugflotten auf einer Autobahn mit unterschiedlichen Wunschgeschwindigkeiten. Das Ziel ist es, eine Regelung zu entwerfen, die in Szenarien verwendet werden kann, wo nur Fahrzeug-zu-Fahrzeug-Kommunikation verfügbar ist und wo Fahrzeuge sich selbstständig auf die Positionen auf der Straße einigen müssen. Nach einer Einigung auf eine Fahrbahngeschwindigkeit mit den anderen Verkehrsteilnehmern, wird das Fahrzeug zu diesem Zweck entscheiden, ob die Fahrt in der aktuellen Spur fortgesetzt werden soll oder ob die Spur gewechselt werden muss. Im letzteren Fall wird der Einstiegspunkt mit den anderen Verkehrsteilnehmern verhandelt. Ein Onboard-Regler berechnet eine optimale Trajektorie, entlang der sich das Fahrzeug mit der vereinbarten Geschwindigkeit bewegt und dabei Kollisionen vermeidet.
Funding source: Deutsche Forschungsgemeinschaft
Award Identifier / Grant number: RA516/12-1
Funding source: H2020 European Institute of Innovation and Technology
Award Identifier / Grant number: 705982
Funding statement: This work was funded by the German Research Foundation (DFG) within their priority programme SPP1914 “Cyber-Physical Networking”, RA516/12-1 and was supported by the European Union’s Horizon 2020 research and innovation programme under the Marie Skłodowska-Curie grant agreement No 705982.
About the authors
Fabio Molinari received his Master of Science degree in Automation and Control Engineering from Politecnico di Milano, Italy, in 2015. He was a research assistant at Johannes Kepler Universität Linz, Austria, until 2016. Since 2016, he has been employed at the Technische Universität Berlin, Germany, where he works towards his Ph.D. degree. His research focusses on consensus-based control of multi-agent systems over wireless channels (DFG Priority Programme SPP1914).
Aaron Grapentin is currently studying Electrical Engineering at the Technical University Berlin, Germany. He finished his B.Sc. degree in 2018 and is now pursuing his M.Sc. degree. His fields of interest are centered around automation and control.
Alexandros Charalampidis was born in Athens, Greece, in 1984. He received the Diploma from the National Technical University of Athens (NTUA), School of Electrical and Computer Engineering, in 2007 and the PhD from the same school in 2011. During 2012-2014 he was a postdoctoral researcher at the Swiss Federal Institute of Technology in Lausanne (EPFL), while during 2014-2015 he was a research associate at NTUA. He was a Marie Curie Fellow at TU Berlin from 2017 until 2019. Currently he is an Associate Professor (“maître de conférences”) at CentraleSupélec, on the Rennes campus, in the Automatic Control Group. His research interests are in the field of Systems and Control.
Jörg Raisch holds the chair of Control Systems in the Department of Electrical Engineering and Computer Science at Technische Universität (TU) Berlin. He is also an External Scientific Member of the Max Planck Institute for Dynamics of Complex Technical Systems. His main research interests are hybrid and hierarchical control, and control of timed discrete event systems in tropical algebras, with applications in chemical, medical and power systems engineering.
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