Design of a hybrid controller for the platoon maneuvers

Abstract

The objective of automated highway systems (AHS) is to increase the safety and throughput of the existing highway infrastructure by introducing traffic automation. AHS is an example of a large scale, multiagent complex dynamical system and is ideally suited for a hierarchical hybrid controller. We discuss the design of efficient hybrid controllers for the platoon maneuvers on an AHS. For the modeling of a hybrid system including the merge and split operations, we introduce the safety distance policy for the merge and split operations. Then, the platoon system is modeled by a hybrid system. In addition, the hybrid controller for the proposed merge and split operation models is presented. Finally, we demonstrate our scenarios for platoon maneuvers using the hybrid control scheme.