Predictive lane-changing control for platoon based on cloud control system in highway scenarios AITranslate

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Basic Information:

DOI：10.23919/CHAIN.2024.100001

Chinese Library Classification Number:

Citation Information:

This research proposes a predictive lane-changing control system for platoon based on cloud control system (CPPLC), Which is designed to improve the safety, economy, and driving efficiency of a platoon. The system constructs a vehicle-cloud hierarchical control architecture, with the cloud as the decision-making layer, which collaboratively optimizes the longitudinal acceleration and lateral lane-changing decisions of the platoon based on a model predictive control framework to improve the comprehensive performance of platoon driving. The vehicle is the execution layer, which cooperates with the decision-making in the cloud to generate the platoon driving trajectory and carry out tracking control to ensure the safety of platoon driving. The proposed system is evaluated based on a joint simulation platform consisting of Sumo, Matlab/Simulink, and Trucksim, and the results show that the system can realize the improvement of the economy and driving efficiency while ensuring the safety compared with the conventional microscopic driving model.