Wijck, H.A. van Design and analysis of distributed control for lane merging for high-speed autonomous cars in future smart transportation. Research Project, Industrial Engineering and Management.
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Abstract
Nowadays, Cyber-Physical Systems are cornerstones in the fourth industrial revolution towards smart industries. These systems could use autonomous vehicles within the logistics and transportation industry. Autonomous vehicles could be arranged in straight lines with specific and smaller inter-vehicle distances to form platoons. Platooning leads to fuel savings and increases road efficiency. However, there is a lack of knowledge regarding the merging of an extra vehicle into a platoon at high speeds. The main goal of this thesis is to design a control algorithm for lane merging of autonomous vehicles into a platoon. The merging control law uses distance-based formation control by applying gradient-based control. The proposed controller allows merging at high speeds whilst accomplishing the merging procedure within the length limits of the merging lane. Possible disagreements between vehicles in desired distances are included. Local range sensor data is filtered and translated into the error. Results from the Monte Carlo simulations show that 95.25% of 7300 simulations are successful. On average, the merging procedure is accomplished within 55.45% and 56.85% of the length of the merging lane without and with disagreement elimination respectively. In conclusion, all of the successful simulations accomplished the merging procedure within the limited length of the merging lane. Hence, the control algorithm contributes to the development of fully autonomous vehicles.
| Item Type: | Thesis (Research Project) |
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| Supervisor name: | Jayawardhana, B. and Cao, M. |
| Degree programme: | Industrial Engineering and Management |
| Thesis type: | Research Project |
| Language: | English |
| Date Deposited: | 27 Mar 2019 09:38 |
| Last Modified: | 27 Mar 2019 11:51 |
| URI: | https://fse.studenttheses.ub.rug.nl/id/eprint/19307 |
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