Trajectory optimization for autonomous modular vehicle or platooned autonomous vehicle split operations

Qianwen Li and Xiaopeng Li

Transportation Research Part E: Logistics and Transportation Review, 2023, vol. 176, issue C

Abstract: Autonomous modular vehicle (AMV) technology allows for the flexible adjustment of vehicle length en-route per application needs, e.g., docking multiple short vehicles into one long vehicle or, conversely, splitting a long vehicle into multiple shorter ones. AMV docking is an extreme case of autonomous vehicle (AV) platooning in that AMVs are physically connected with zero gaps. This paper studies the trajectory planning for platoon split operations. A two-stage optimization problem is proposed to design AMV or platooned AV split operations trajectories. The first-stage objective minimizes the split operation time duration for operation efficiency. The second-stage objective minimizes the sum of squared acceleration to identify the smoothest trajectories for riding comfort and fuel efficiency.

Keywords: Autonomous vehicle; Modular vehicle; Trajectory optimization; Platoon split; Heuristics; Pontryagin's maximum principle (search for similar items in EconPapers)
Date: 2023
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DOI: 10.1016/j.tre.2023.103115

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