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What is Autonomous Vehicle Formation Control about?

This document describes a hierarchical model predictive control framework for controlling the formation of autonomous vehicles on a multi-lane road with obstacles. At the high level, a virtual structure model represents the desired convoy formation moving along a centerline. A model predictive controller generates the trajectory of the virtual structure considering road and traffic constraints. At the low level, local model predictive controllers compute inputs for each vehicle to track its position in the

Author

Ozzy Jones

Language

EN