Path Planning for Autonomous Platoon Formation

Ouafae El Ganaoui-Mourlan, Stephane Camp, Thomas Hannagan, Vaibhav Arora, Martin De Neuville and Vaios Andreas Kousournas
Additional contact information
Ouafae El Ganaoui-Mourlan: IFP Energies Nouvelles, 1 et 4 Avenue de Bois-Préau, 92852 Rueil-Malmaison, France
Stephane Camp: IFP School, 228-232, Avenue Napoléon Bonaparte, CEDEX, 92852 Rueil-Malmaison, France
Thomas Hannagan: STELLANTIS, Centre Technique Vélizy, 78140 Vélizy-Villacoublay, France
Vaibhav Arora: IFP School, 228-232, Avenue Napoléon Bonaparte, CEDEX, 92852 Rueil-Malmaison, France
Martin De Neuville: IFP School, 228-232, Avenue Napoléon Bonaparte, CEDEX, 92852 Rueil-Malmaison, France
Vaios Andreas Kousournas: IFP School, 228-232, Avenue Napoléon Bonaparte, CEDEX, 92852 Rueil-Malmaison, France

Sustainability, 2021, vol. 13, issue 9, 1-13

Abstract: In the context of automated highway systems (AHS), this work proposes an approach that enables a vehicle to autonomously join a platoon with optimized trajectory in the presence of dynamical traffic obstacles. A notable aspect is the use of Model Predictive Control (MPC) optimization of the planned path, in conjunction with a variant of the Rapidly-exploring Random Trees (RRT*) algorithm for the purpose of platoon formation. This combination efficiently explores the space of possible trajectories, returning trajectories that are smoothened out with respect to the dynamic constraints of the vehicle, while at the same time allowing for real-time implementation. The implementation we propose takes into consideration both localization and mapping through relevant sensors and V2V communication. The complete algorithm is tested over various nominal and worst-case scenarios, qualifying the merits of the proposed methodology.

Keywords: autonomous vehicle; platoon formation; path planning; model predictive control; RRT; RRT*; optimization (search for similar items in EconPapers)
JEL-codes: O13 Q Q0 Q2 Q3 Q5 Q56 (search for similar items in EconPapers)
Date: 2021
References: View complete reference list from CitEc
Citations: View citations in EconPapers (3)

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