Vehicle Platoon Motion Planning Based on Dual-Mode Strategy

Intelligent connected vehicle platooning technology utilizes vehicle-to-vehicle communication to enhance urban road efficiency and ensure driving safety. This paper focuses on the vehicle platoon motion planning algorithm, which constructs a reference path for platoon vehicles based on smoothed historical trajectory points of the lead vehicle. The algorithm generates path boundaries considering road and obstacle information, creates candidate paths using lateral and longitudinal sampling, and selects the optimal path using a cost function. A velocity planning algorithm is developed for platoon vehicles, incorporating dual-mode strategies for platoon cruise and obstacle avoidance based on different scenarios. A safety risk assessment is established, guiding the choice of speed planning mode. Real-world experiments validate the planning outcomes, evaluating speed, acceleration, and inter-vehicle distance. Results indicate well-smoothed trajectories with good comfort and safety attributes.