Cruise Controllers for Vehicles on Lane-Free Ring-Roads

被引：0
|
作者：
Theodosis, Dionysios [1 ]
Karafyllis, Iasson [3 ]
Papageorgiou, Markos [1 ,2 ]
机构：
[1] Tech Univ Crete, Dynam Syst & Simulat Lab, Khania, Greece
[2] Ningbo Univ, Fac Maritime & Transportat, Ningbo, Peoples R China
[3] Natl Tech Univ Athens, Dept Math, Zografou Campus, Athens 15780, Greece
来源：
2023 AMERICAN CONTROL CONFERENCE, ACC | 2023年
基金：
欧洲研究理事会;
关键词：
PLATOONS; MODEL;
D O I：
10.23919/ACC55779.2023.10156089
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper introduces novel families of cruise controllers for autonomous vehicles on lane-free ring-roads. The design of the cruise controllers is based on the appropriate selection of a Control Lyapunov Function expressed on measures of the energy of the system with the kinetic energy expressed in ways similar to Newtonian or relativistic mechanics. The derived feedback laws (cruise controllers) are decentralized (per vehicle), as each vehicle determines its control input based on: (i) its own state; (ii) either only the distance from adjacent vehicles (inviscid cruise controllers) or the state of adjacent vehicles (viscous cruise controllers); and (iii) its distance from the boundaries of the ring-road.
引用
收藏
页码：4136 / 4141
页数：6
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