Citation

Ng L, Clark CM, Huissoon JP. Int. J. Vehicle Inf. Commun. Syst. 2008; 1(3/4): 229-248.

Copyright

(Copyright © 2008, Inderscience Publishers)

DOI

10.1504/IJVICS.2008.022356

PMID

unavailable

Abstract

In dynamic collaborative driving, multiple vehicles coordinate their motion to optimise road usage using shared information. The basic prerequisites for a vehicle participating in dynamic collaborative driving are longitudinal and lateral control. This paper focuses on the lateral vehicle control on which higher-level manoeuvres such as entering or exiting a formation are based. Each vehicle involved is a composite nonlinear system powered by an internal combustion engine, equipped with automatic transmission, rolling on rubber tyres with hydraulic braking systems and steering system. A vehicle model is introduced which serves as the control system design platform. A lateral adaptive preview control system which uses Monte Carlo Reinforcement Learning (RL) is introduced. The results of the RL phase and the performance of the adaptive preview control system for a single automobile as well as the performance in a multi-vehicle platoon are presented.