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In order to optimize the distribution of the urban emergency rescue vehicles and achieve the rapid response of the traffic accident, the distribution of multi-emergency rescue vehicles for the minimum rescue time is studied. According to the coverage control and the influence of traffic congestion for rescue time, the main research contents are as follows: analysis of the overall time consumption on the target area, establishment of the optimization model which considers the responsible area and the driving constraints of each vehicle for rescue time consumption. In details, for the division problem of responsible area of emergency rescue vehicle, the responsible area of each vehicle is calculated by using Voronoi region allocation principle and taking the driving time of vehicle to any point in urban road networks as evaluation index. Then, in consideration of the driving constraints in urban road networks, the constraints in the optimization model is clarified further on the premise of analyzing the vehicle kinematic characteristics. Finally, the optimal distribution position of multi-emergency rescue vehicles in the target area and the corresponding responsible area are calculated by gradient descent. The results show that the vehicle can converge to the optimal distribution position from any position in the target city, and the traffic accidents in responsible area can be timely response.

The vehicle platoon lane changing is significant for alleviating road congestion and diminishing transportation energy consumption. However, the lane changing strategy for a group of vehicles is still a great challenge in this field. This paper investigates the vehicle platoon lane changing problems, in which the safety and efficiency in the lane changing procedure are both taken into consideration. Since the safety of the platoon lane changing would be affected by the lane changing gap and the length of the platoon, a novel platoon lane changing strategy is proposed by using the deep Q‐network. In detail, the proposed platoon lane changing strategy contains two layers, where the first one is a decision layer and the other one is the verification layer. In the decision layer, the deep Q‐network is employed to improve the lane changing efficiency. Then, the verification layer is presented to enhance the platoon lane changing safety. In final, some typical platoon lane changing scenarios are provided in an existing ramp containing a vehicle platoon and some random vehicles. The related numerical simulations are conducted to validate the feasibility and effectiveness of the proposed approaches. [ABSTRACT FROM AUTHOR]

For the vehicular platoon consisting of connected automotive vehicles, time delays degrade both the internal stability and string stability. In this study, the internal stability and string stability of the vehicular platoon suffering from sensing delay and communication delay are investigated. In the internal stability analysis, the necessary and sufficient internal stability condition is obtained and the exact time delay margins (ETDMs) are derived via the cluster treatment of characteristic root (CTCR) paradigm. A Dixon resultant matrix–based method is proposed to determine the kernel and offspring hypersurfaces of the CTCR paradigm, and then the computational burden of deriving the ETDMs is reduced significantly. In the string stability analysis, we first propose the string stability conditions for the situation no matter how large the frequency of the leader vehicle's maneuver is. Furthermore, the more practical string stability conditions are studied by considering only the region of low frequency, where most of the energy of the spacing errors exists. Then, a lower bound of the time headway is deduced to enhance road capacity, so the potential of the vehicular platoon is fully motivated. Numerical simulations are provided to illustrate the effectiveness of the theoretical claims. [ABSTRACT FROM AUTHOR]

In this paper, the vehicle platoon control problems for a group of heterogeneous vehicles are investigated, where the multiple constraints of the vehicles and the communication delays among the vehicles are taken into consideration. A distributed model predictive control (DMPC) scheme is proposed to drive the heterogeneous vehicles into the desired platoon. In this DMPC framework, the multiple constraints, including the control constraints, state constraints, and jerk constraints, are employed to describe the practical characteristics of vehicles and the communication delays are time-varying and bounded. In this framework, a group of platoon control schemes is proposed based on the DMPC techniques. Furthermore, the feasibility and stability of the proposed vehicle platoon control system are strictly analyzed. Finally, numerical simulation and experiment with TurtleBot3 mobile robots are provided to validate the effectiveness of proposed approaches., 1. Introduction In recent years, since the dramatic increase of vehicles and the inferiority of human drivers, much more attention has been paid to the traffic problems (e.g., traffic congestion, [...]

We investigate the vehicle platoon problems, where the actuator saturation and absent velocity measurement are taken into consideration. Firstly, a novel algorithm, where a smooth function is introduced to deal with the sharp corner of the input signals, is proposed for a group of vehicles with actuator saturation by using the consensus theory. Secondly, by applying an auxiliary system for the followers to estimate the velocities, a control strategy for the vehicle platoon with actuator saturation and absent velocity measurement is designed via the adaptive control approach. Finally, numerical simulations are provided to illustrate the effectiveness of the proposed approaches., 1. Introduction Vehicle platoon is well studied in the field of formation control, which is an effective approach to enhance the traffic safety and efficiency [1]. The main objective of [...]