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Abstract



Fuel and Comfort Efficient Cooperative Control for Autonomous Vehicles


In this paper, a cooperative fuel and comfort efficient control, featuring a collision avoidance scheme for multiple autonomous vehicles in different traffic scenarios is presented. By minimizing a cost function, which takes into account the fuel consumption and passengers comfort, the optimal path of each vehicle, from its start position to the goal position, is obtained. The problem is subjected to safety and speed constraints for each vehicle. The optimal solution will take into account the comfort and fuel consumption, which is obtained by minimizing the jerk, acceleration and fuel criterion. It is shown that the strategy can be applied to control different groups of vehicles in different traffic scenarios. Simulation results are used to illustrate the generality property and performance of the proposed approach.

Fatemeh Mohseni, Jan Åslund, Erik Frisk and Lars Nielsen

2017

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