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A Systematic Multi-Vehicle Platooning and Platoon Merging: Strategy, Control, and Trajectory Generation

[+] Author Affiliations
Mohammad Goli, Azim Eskandarian

The George Washington University, Washington, DC

Paper No. DSCC2014-6336, pp. V002T25A006; 10 pages
  • ASME 2014 Dynamic Systems and Control Conference
  • Volume 2: Dynamic Modeling and Diagnostics in Biomedical Systems; Dynamics and Control of Wind Energy Systems; Vehicle Energy Management Optimization; Energy Storage, Optimization; Transportation and Grid Applications; Estimation and Identification Methods, Tracking, Detection, Alternative Propulsion Systems; Ground and Space Vehicle Dynamics; Intelligent Transportation Systems and Control; Energy Harvesting; Modeling and Control for Thermo-Fluid Applications, IC Engines, Manufacturing
  • San Antonio, Texas, USA, October 22–24, 2014
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4619-3
  • Copyright © 2014 by ASME


Problem of autonomous vehicle platooning in an automated highway setting has drawn many attentions, both in academia and industry, during last two decades. This paper studies the problem of vehicle platooning with a particular focus on merging control algorithm when one or several vehicle(s) merge(s) from the adjacent lane into the main vehicle platoon under longitudinal control. Different longitudinal controllers have been compared. A practical novel multi-vehicle merge-in strategy and an adaptive lateral trajectory generation method have been proposed. The proposed approach is then tested and verified in our newly developed simulation platform SimPlatoon.

Copyright © 2014 by ASME



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