TY - JOUR ID - 118794 TI - Autonomous Vehicle Convoy Formation Control with Size/Shape Switching for Automated Highways JO - International Journal of Engineering JA - IJE LA - en SN - 1025-2495 AU - Jond, H. B. AU - Platoša, J. AU - Sadreddini, Z. AD - Department of Computer Science, VSB – Technical University of Ostrava, Ostrava, Czech Republic AD - Department of Computer Engineering, Istanbul Arel University, Istanbul, Turkey Y1 - 2020 PY - 2020 VL - 33 IS - 11 SP - 2174 EP - 2180 KW - Automated Highway KW - Autonomous Vehicle KW - formation control KW - Receding Horizon Control KW - Size/Shape Switching DO - 10.5829/ije.2020.33.11b.07 N2 - Today’s semi-autonomous vehicles are gradually moving towards full autonomy. This transition requires developing effective control algorithms for handing complex autonomous tasks. Driving as a group of vehicles, referred to as a convoy, on automated highways is a highly important and challenging task that autonomous driving systems must deal with. This paper considers the control problem of a vehicle convoy modeled with linear dynamics. The convoy formation requirement is presented in terms of a quadratic performance index to minimize. The convoy formation control is formulated as a receding horizon linear-quadratic (LQ) optimal control problem. The receding horizon control law is innovatively defined via the solution to the algebraic Riccati equation. The solution matrix and therefore the receding horizon control law are obtained in the closed-form. A control architecture consisting of four algorithms is proposed to handle formation size/shape switching. The closed-form control law is at the core of these algorithms. Simulation results are provided to justify the models, solutions, and proposed algorithms. UR - https://www.ije.ir/article_118794.html L1 - https://www.ije.ir/article_118794_20281f59c72a813dcd5680b3f33c7023.pdf ER -