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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