A Simulation System for Cooperative Control of Autonomous Convoy

doi:10.12382/bgxb.2023.0849

Abstract

Abstract:

Autonomous convoy has the potential to be widely used in many fields, and simulation is an effective and safe method to research the cooperative control technology of autonomous convoy. An autonomous convoy simulation system solution is presented by analyzing the requirements for the autonomous convoy, and the basic structure and function of the main software are described. The following control and multiple vehicle cooperative control strategies are designed and validated for a leader-follower style three-vehicles maneuver mission, and the usuability of the proposed simulation system is demonstrated. At last, the advantages of the simulation system and its research directions are summarized.

Key words: autonomous convoy, cooperative control, simulation system, leader-follower

CLC Number:

TP242.6

SU Zhibao, XIANG Shen, YU Xuewei, AN Xuyang. A Simulation System for Cooperative Control of Autonomous Convoy[J]. Acta Armamentarii, 2023, 44(S2): 35-43.

Figures/Tables 11

Fig.1 Components of autonomous convoy simulation system

Fig.2 Components of autonomous driving software

Fig.3 Components of convoy management software

Fig.4 Hybrid architecture and information flow topology

Fig.5 Definition of formation error

Fig.6 Local path planning

Fig.7 Vehicle velocity-time figure

Fig.8 Structural road scenario

Fig.9 Travled trajectories and formation error for kf=0

Fig.10 Travled trajectories and formation error for kf=0.05

Fig.11 Travled trajectories and formation error for kf=0.2

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