Collaborative Driving Systems Adapted to Changing Environment Conditions 2004-01-0180
The long-term goal of this project is to derive systems that would allow the safe and efficient coordination of collaborating vehicles in high-density highway traffic. The challenge is to ensure safe movements of each vehicle, inside the collaborative driving system. Different control scenarios for making vehicles join or leave a platoon, merging two platoons, are presented. The presented longitudinal guidance and control part follow a safe time-headway distance policy between the vehicles. A two-level longitudinal controller is developed using the Linear Quadratic Regulor (LQR) and feedback linearization methods. A “safe virtual bubble” is created according to each vehicle dynamics and road conditions.