Virtual merge and split at intersection for vehicle platooning based on self-triggered pinning consensus control. (1st February 2023)

• Record Type: Journal Article
• Authors: Tanaka, Ayaka; Kobayashi, Koichi; Yamashita, Yuh
• Is Part Of: Advanced robotics. Volume 37:Number 3(2023)
• Page Start: 210
• Page End: 219
• Publication Date: 2023-02-01
• Subjects: Consensus -- pinning control -- self-triggered control -- vehicle platooning -- virtual merge and split; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2022.2126731
• Languages: English
• ISSNs: 0169-1864

Abstract

ABSTRACT: In this paper, a new method of vehicle platooning at an intersection is proposed based on self-triggered pinning consensus control. Using the proposed method, collision avoidance is achieved with no vehicles stopping/backing. First, the outline of self-triggered pinning consensus control is explained. Next, the problem setting of vehicle platooning is given, and virtual merge and split of vehicle groups are proposed. Furthermore, performance analysis of self-triggered pinning consensus control for vehicle platooning at an intersection is conducted. Finally, a numerical simulation is presented to demonstrate the proposed method. GRAPHICAL ABSTRACT: UF0001